A simple robust control for global asymptotic position stabilization of underactuated surface vessels

Global asymptotic stabilization of underactuated surface vessels is generally achieved only by designing complicated controllers. This paper proposes a very simple control law that globally asymptotically stabilizes the position of underactuated surface vessel to a desired constant location and its velocities to zero. The proposed controller is independent of velocity signals and is robust to model parameters. It neither includes an observer nor an adaptive/sliding‐mode law. Controller development and stability analysis rely on a novel Lyapunov function and LaSalle's theorem. Furthermore, by extending the proposed control strategy, a saturated control law is also obtained ensuring the semiglobal asymptotic stability of position error system. Effectiveness of the proposed control schemes is demonstrated by simulation examples. Copyright © 2017 John Wiley & Sons, Ltd.     

Relative attitude formation control of multi‐agent systems

This paper investigates the relative attitude formation control problem for a group of rigid‐body agents using relative attitude information on SO(3). On the basis of the gradient of a potential function, a family of distributed angular velocity control laws, which differ in the sense of a geodesic distance dependent function, is proposed. With directed and switching interaction topologies, the desired relative attitude formation is showed to be achieved asymptotically provided that the topology is jointly quasi‐strongly connected. Moreover, several sufficient conditions for the desired formation to be achieved exponentially and almost globally are given. Additionally, numerical examples are provided to illustrate the effectiveness of the proposed distributed control laws. Copyright © 2017 John Wiley & Sons, Ltd.     

Approximate Predictive Densities and Their Applications in Generalized Linear Models

Exact calculations of model posterior probabilities or related quantities are often infeasible due to the analytical intractability of predictive densities. Here new approximations for obtaining predictive densities are proposed and contrasted with those based on the Laplace method. Our theory and a numerical study indicate that the proposed methods are easy to implement, computationally efficient, and accurate over a wide range of hyperparameters. In the context of GLMs, we show that they can be employed to facilitate the posterior computation under three general classes of informative priors on regression coefficients. A real example is provided to demonstrate the feasibility and usefulness of the proposed methods in a fully Bayes variable selection procedure.     

基于一类饱和函数的机器人混合鲁棒/自适应控制

提出一类不需要线性PD反馈的混合鲁棒/自适应控制策略,用于不确定性机器人的轨迹 跟踪.其控制结构由一个补偿参数不确定性的自适应控制器和补偿非参数不确定性的鲁棒控 制器构成. 其主要特点是基于一类饱和型函数,提出了一类新颖的鲁棒控制器和非线性滑动 变量的设计方法.基于Lyapunov方法的理论分析和计算机仿真,均保证设计的控制策略能够消 除系统所有的不确定性影响,并达到全局的渐近稳定.     

分段延迟微分方程线性-方法数值解渐近稳定性

This paper deals with the stability analysis of numerical solutionof linear -methods for delay differential equations. We focuson the linear test equation x(t)=ax(t)+bx(［t］), where a,b areconstants and ［t］ is the largest-integer function. Sufficent conditionsare given for the numerical solution to be asymptotic stable     

一类不确定非线性系统具有扇形非线性输入的鲁棒几乎干扰解耦控制

研究了一类具有不确定非线性输入 ,结构亦不确定的非线性系统的鲁棒几乎干扰解耦问题 .在非线性输入的扇形界及不确定性特性已知的条件下 ,所设计的控制器能保证闭环系统从干扰到输出的L2 增益保持在给定水平上 .     

Adaptive guidance law design based on characteristic model for reentry vehicles

In this paper an adaptive guidance law based on the characteristic model is designed to track a reference drag acceleration for reentry vehicles like the Shuttle. The characteristic modeling method of linear constant systems is extended for single-input and single-output （SlSO） linear time-varying systems so that the characteristic model can be established for reentry vehicles. A new nonlinear differential golden-section adaptive control law is presented. When the coefficients belong to a bounded closed convex set and their rate of change meets some constraints, the uniformly asymptotic stability of the nonlinear differential golden-section adaptive control system is proved. The tracking control law, the nonlinear differential golden-section control law, and the revised logical integral control law are integrated to design an adaptive guidance law based on the characteristic model. This guidance law overcomes the disadvantage of the feedback linearization method which needs the precise model. Simulation results show that the proposed method has better performance of tracking the reference drag acceleration than the feedback linearizaUon one.     

A Novel Class of Symmetric and Nonsymmetric Periodizing Variable Transformations for Numerical Integration

Variable transformations for numerical integration have been used for improving the accuracy of the trapezoidal rule. Specifically, one first transforms the integral via a variable transformation that maps [0,1] to itself, and then approximates the resulting transformed integral by the trapezoidal rule. In this work, we propose a new class of symmetric and nonsymmetric variable transformations which we denote , where r and s are positive scalars assigned by the user. A simple representative of this class is . We show that, in case , or but has algebraic (endpoint) singularities at x = 0 and/or x = 1, the trapezoidal rule on the transformed integral produces exceptionally high accuracies for special values of r and s. In particular, when and we employ , the error in the approximation is (i) O(h ^r ) for arbitrary r and (ii) O(h ^2r ) if r is a positive odd integer at least 3, h being the integration step. We illustrate the use of these transformations and the accompanying theory with numerical examples.      

线性时滞系统依赖于时滞的H~∞状态反馈控制

对具有纯滞后输入的线性时滞系统 ,在系统的状态时滞与控制输入时滞不同时 ,研究了依赖时滞的 H∞ 状态反馈控制器设计问题 ,其控制器存在的充分条件由一个线性矩阵不等式 (L MI)的形式给出 ,并给出了相应的 H∞ 控制器的综合设计方法     

Further remarks for the matrix type-B codes

Different philosophies lie behind the detecting and correcting error patterns in a real communication channel. The sceptic points in choosing an efficient code, specifically the matrix type-B code, were pointed out in Refs. 1 and 2.Some more points are shown here. As a result the matrix type-B code is found to be a best choice. Some more theoretical aspects for this code are also given. These are useful for the realization and testing of an encoding-decoding algorithm with IC's used in a unique way for its implementation.