Input-output finite-time stability of time-varying linear singular systems

This paper studies the input-output finite-time stabilization problem for time-varying linear singular systems. The output and the input refer to the controlled output and the disturbance input,respectively.Two classes of disturbance inputs are considered,which belong to L-two and L-infinity.Sufficient conditions are firstly provided which guarantee the input-output finite-time stability.Based on this,state feedback controllers are designed such that the resultant closed-loop systems are input-output finite-time stable.The conditions are presented in terms of differential linear matrix inequalities.Finally,an example is presented to show the validity of the proposed results.     

Stability analysis for discrete linear systems with state saturation by a saturation-dependent Lyapunov functional

This paper concerns the stability analysis problem of discrete linear systems with state saturation using a saturation-dependent Lyapunov functional.We introduce a free matrix characterized by the sum of the absolute value of each elements for each row less than 1,which makes the state with saturation constraint reside in a convex polyhedron.A saturation-dependent Lyapunov functional is then designed to obtain a sufficient condition for such systems to be globally asymptotically stable.Based on this stability criterion,the state feedback control law synthesis problem is also studied.The obtained results are formulated in terms of bilinear matrix inequalities that can be solved by the presented iterative linear matrix inequality algorithm.Two numerical examples are used to demonstrate the effectiveness of the proposed method.     

基于Matlab的线性规划问题求解

线性规划是运筹学中研究较早、发展较快、应用广泛、方法成熟的一个重要分支,它是辅助人们进行科学管理的一种重要的数学方法.文章首先介绍了线性规划的基本概念及标准形式,着重讨论了线性规划问题的三种常用解法:单纯形法、直接搜索法以及遗传算法,最后在Matlab R2009a环境下进行了仿真.通过结果可以看出,用Matlab求解线性规划问题,可以避免手工的烦琐计算,大大地提高工作效率和结果的准确性.     

基于多模型半参数非线性回归模型的外弹道节省参数估计

双星定位系统的应用是外弹道估计中的一种发展趋势。文章给出基于双星、光雷的联合测量模型,建立基于半参数回归的外弹道节省参数估计模型;给出基于半参数回归的外弹道节省参数估计算法及计算步骤,并从理论上分析了基于半参数回归的外弹道节省参数估计算法能有效地消除非线性因素对参数估计性能的影响,其估计精度优于经典的节省参数建模方法,并通过仿真得到：该算法确实有效。     

MIMO链路ad hoc网络传输调度算法

针对MIMO链路ad hoc网络中已有传输调度算法未充分利用MIMO空间复用能力的问题,提出了一种新的传输调度算法.该算法通过考虑MIMO的多流接收能力而有效地减小了调度帧长,通过合理安排节点分配顺序使得节点分配的数据流比较平均,同时,该算法通过允许节点发送多个数据流而高效利用了MIMO的空间复用能力.推导分析了传输调度算法的通过量和时延性能,结果表明,与已有算法相比,采用文中算法可以提高网络的通过量,减小网络的平均时延和最大时延.     

An iterative linear quadratic regulator based trajectory tracking controller for wheeled mobile robot

We present an iterative linear quadratic regulator(ILQR) method for trajectory tracking control of a wheeled mobile robot system.The proposed scheme involves a kinematic model linearization technique,a global trajectory generation algorithm,and trajectory tracking controller design.A lattice planner,which searches over a 3D(x,y,θ) configuration space,is adopted to generate the global trajectory.The ILQR method is used to design a local trajectory tracking controller.The effectiveness of the proposed method is demonstrated in simulation and experiment with a significantly asymmetric differential drive robot.The performance of the local controller is analyzed and compared with that of the existing linear quadratic regulator(LQR) method.According to the experiments,the new controller improves the control sequences(v,ω) iteratively and produces slightly better results.Specifically,two trajectories,’S’ and ’8’ courses,are followed with sufficient accuracy using the proposed controller.     

多特征自适应融合的粒子滤波跟踪算法

针对跟踪过程中目标形态不断变化或部分遮挡导致鲁棒性差的问题,提出一种基于多特征自适应融合的粒子滤波跟踪算法.该算法从视觉特征集中选取了描述能力强的2种特征,并将其按照与目标模型的多尺度相似度进行线性融合;为了减小跟踪漂移,通过计算当前目标模型与初始目标模型的多尺度相似度自适应地更新目标模型.大量仿真实验结果表明,文中算法可以鲁棒地跟踪到部分遮挡和形态变化的运动目标.     

异类传感器实时信息融合的STMHM算法

异类传感器实时信息融合由于两类设备的数据率不同和数据误差的限制,一直未得到有效解决,提出一种空时二维多假设模型(STMHM)算法来解决该问题。设计的融合数据模型,将异类传感器的测量数据映射在二维直角坐标系下;按照新的融合数据模型分别构建两类传感器的目标量测空间和融合空间;设计量测空间时间初始化方法和目标实体空间的滤波算法;通过仿真验证表明:该算法能够实现异类传感器的信息融合,初次融合成功的确认时间在3～5个主动传感器扫描周期。     

基于两电极体系的水质检测分析平台设计

为实现对水质的多参数检测,设计了一个基于两电极体系的水质检测分析平台。该检测平台通过最小化极化电流的思想,采用辅助电极面积远大于工作电极的电极参数,设计了基于两电极体系的集成电极和软硬件系统,摈弃了传统三电极体系的参比电极,同时克服了传统三电极体系容易污染样品的缺点,能实现电化学工作站的诸多功能。本研究在该检测平台上开展了水样的电导率(EC)、pH和重金属浓度的检测研究,获得了较好的结果,可用于实验室及工业现场的水质监测。     

一种基于偏最小二乘法的室外光照估计算法

针对固定视点下的室外场景在线视频光照求解问题,提出一种基于偏最小二乘室外场景实时光照估计算法.在离线阶段提取场景中对光照变化较为敏感的区域,并将这些区域像素值的均值与方差的无偏估计作为场景图像的统计参数,再利用偏最小二乘回归分析建立场景的光照参数与图像统计参数之间的模型;在在线阶段使用所建立的模型实时估计视频每一帧的光照条件.实验结果表明,使用该算法所求解的光照参数对虚拟物体进行绘制并将其融入视频中后,合成场景真实感很强.