Contact Stability Analysis of a One Degree-of-Freedom Robot

The aim of this note is to examine the conditions of stability of a simple robotic task: we consider a one degree-of-freedom (dof) robot that collides with a spring-like environment with stiffness k, the goal being to stabilize the system in contact with the environment. We study conditions on the feedback gains that guarantee quadratic Lyapunov stability of the task with a well-conditioned solution to the Lyapunov equation. It is shown that when the environment's stiffness k grows unbounded, those conditions yield unbounded values of the gains. Motivated by the stability analysis of the impact Poincaré map in the perfectly rigid case ( ), we propose an analysis that is independent of k. It enables us to conclude on global asymptotic convergence of the system's state towards the equilibrium point. This work can also be seen as the study of stability of a contact (force control) phase, taking into account the unilateral feature of the constraint.     

Stability and boundedness in difference systems with finite delay

In this paper, stability and boundedness theorems for delay difference systems with the condition

δV(n,x(n))≤-W₂(|x(n)|)+σ

are given, where Δ is the backward difference operator. Some known results are generalized.     

受模糊干扰的耦合型颤振的模糊稳定分析

在耦合型颤振的分析中考虑了模糊不确定性因素的影响,利用模糊数学分析方法详细探讨了受模糊干扰的耦合型颤振的模糊稳定性分析问题,给出了关于耦合型颤振的模糊稳定性切削阈的可能性分布及其置信水平表达式。     

有载调压变压器调整对电力系统电压稳定性的影响

本文利用分叉理论,在静态范围讨论了有载调压变压器分接头调整电力系统电压稳定性影响问题,研究表明,对应于不同负荷模型,有载调压变器变比变化对电压失稳静分叉点的“迁移”方向,最终位置,调压效应产生很大影响,此外,研究发现,一些负荷模型在一定负载区域内,有载调压变压器分接头调整还会产生复杂的“混合调压效应”现象。     

Generalized linear complementarity in a problem ofn-person games

In this paper, we introduce a generalization of the polymatrix game (a nonzero sum noncooperativen-person game) considered by Howson and relate the problem of computing an equilibrium set of strategies for such a game to the generalized linear complementarity problem of Cottle and Dantzig. For an even more general version of the game we prove the existence of an-equilibrium set of strategies. We also present a result on the stability of the equilibria based on degree theory.     

白云鄂博铁矿东矿边坡稳定性研究

针对白云鄂博铁矿东矿C区边坡产生的3处不稳定滑体,结合现场工程地质勘察和岩石力学试验,采用理正岩土分析软件5.5版及加拿大岩质边坡稳定性分析计算软件SLIDE5.0对削坡、锚索加固、注浆的二次加固措施进行了分析计算,通过计算得到的安全系数来综合判断该二次加固措施的有效性。分析计算结果表明,通过削坡、锚索加固、注浆的加固措施,可以使白云鄂博铁矿东矿C区边坡最危险滑面的安全系数达到1.186,符合设计边坡稳定安全系数要求。文章最后提出了实施这些措施时的注意事项。     

面向数据包丢失补偿的网络化广义预测控制

针对网络化控制系统中存在的数据包丢失,考虑了基于状态空间模型的网络化广义预测控制问题;在假设反馈通道和控制通道的数据包丢失过程确定可知的情况下,提出了一种采用预测器和预测控制器分别补偿反馈通道和控制通道的数据包丢失对系统性能影响的方法,通过把广义预测控制问题转化为滚动线性二次型最优跟踪问题,基于动态规划给出了网络化广义预测控制器的设计方法,并基于Ricoati差分方程非负定解的单调性,给出了末端加权矩阵保证系统稳定性的充分条件,最后通过仿真验证了所提出方法的有效性.     

Delay-dependent robust H-infinity filtering for uncertain linear systems with time-varying interval delay

This paper proposed a design method for delay-dependent robust H-infinity filter of linear systems with uncertainty and time-varying interval delay.The proposed method was shown to be much simpler than existing ones while giving significant improvement to the existing results.The key step in the method was to construct a special type of Lyapunov functional for the filter design problem.Unlike the existing techniques,the proposed method employed neither free weighting matrices nor any model transformation,le...