Observer‐based decentralized adaptive control for large‐scale pure‐feedback systems with unknown time‐delayed nonlinear interactions

This paper presents an approximation design for a decentralized adaptive output‐feedback control of large‐scale pure‐feedback nonlinear systems with unknown time‐varying delayed interconnections. The interaction terms are bounded by unknown nonlinear bounding functions including unmeasurable state variables of subsystems. These bounding functions together with the algebraic loop problem of virtual and actual control inputs in the pure‐feedback form make the output‐feedback controller design difficult and challenging. To overcome the design difficulties, the observer‐based dynamic surface memoryless local controller for each subsystem is designed using appropriate Lyapunov‐Krasovskii functionals, the function approximation technique based on neural networks, and the additional first‐order low‐pass filter for the actual control input. It is shown that all signals in the total controlled closed‐loop system are semiglobally uniformly bounded and control errors converge to an adjustable neighborhood of the origin. Finally, simulation examples are provided to illustrate the effectiveness of the proposed decentralized control scheme. Copyright © 2013 John Wiley & Sons, Ltd.     

Genetic algorithm‐based neural‐network modeling approach applied to AlGaN/GaN devices

An accurate equivalent circuit large‐signal model (ECLSM) for AlGaN‐GaN high electron mobility transistor (HEMT) is presented. The model is derived from a distributed small‐signal model that efficiently describes the physics of the device. A genetic neural‐network‐based model for the gate and drain currents and charges is presented along with its parameters extraction procedure. This model is embedded in the ECLSM, which is then implemented in CAD software and validated by pulsed and continuous large‐signal measurements of on‐wafer 8 × 125‐μm GaN on SiC substrate HEMT. Pulsed IV simulations show that the model can efficiently describe the bias dependency of trapping and self‐heating effects. Single‐ and two‐tone simulation results show that the model can accurately predict the output power and its harmonics and the associated intermodulation distortion (IMD) under different input‐power and bias conditions. © 2012 Wiley Periodicals, Inc. Int J RF and Microwave CAE, 2013.     

基于Matlab的大规模电网低频振荡仿真

大电网互联产生的低频振荡现象严重危害电力系统的稳定运行。论文主要介绍如何在MATLAB中建立大电网的仿真模型,并根据低频振荡的产生机理,模拟了低频振荡现象。仿真结果表明,该模型符合电网实际运行状况,为后续研究如何抑制低频振荡提供了平台基础。     

Robust Saturated PI Joint Velocity Control for Robot Manipulators

It is well known that many industrial manipulators use an embedded linear proportional‐integral (PI) joint velocity controller to guarantee motion control through proper velocity commands. However, although this control scheme has been very successful in practice, not much attention has been paid to designing new PI velocity control structures. The problem of analyzing a saturated PI velocity joint velocity controller is addressed in this paper. By using the theory of singularly perturbed systems, the closed‐loop system is studied. The robot dynamics assumed in this paper take into account bounded time–varying disturbances which may include the friction at the joints. An experimental study in a planar two degrees‐of‐freedom direct‐drive robot is also presented, confirming the advantage of the new saturated PI joint velocity controller.     

大型机械设备三维仿真训练系统的关键技术

大型机械设备具有体积庞大、价格昂贵、操作复杂、生产环境恶劣等特点,这些都给学习和操作此类设备带来了很多不便。针对这种实际情况,开发出以计算机仿真技术为核心大型机械设备三维仿真训练系统,可应用于对大型机械设备操作人员的培训。介绍了开发大型机械设备三维仿真训练系统应解决的关键问题,并以采用Java3D技术开发的锻压机三维仿真训练系统为例进行了验证。在应用中表明,大型机械设备三维仿真训练系统具有安全性、实用性、经济性等特点。     

Stochastic facility location with general long-run costs and convex short-run costs

This paper addresses the problem of minimizing the expected cost of locating a number of single product facilities and allocating uncertain customer demand to these facilities. The total costs consist of two components: firstly linear transportation cost and secondly the costs of investing in a facility as well as maintaining and operating it. These facility costs are general and non-linear in shape and could express both changing economies of scale and diseconomies of scale. We formulate the problem as a two-stage stochastic programming model where both demand and short-run costs may be uncertain at the investment time. We use a solution method based on Lagrangean relaxation, and show computational results for a slaughterhouse location case from the Norwegian meat industry.     

Detailed Real-Time Urban 3D Reconstruction from Video

The paper presents a system for automatic, geo-registered, real-time 3D reconstruction from video of urban scenes. The system collects video streams, as well as GPS and inertia measurements in order to place the reconstructed models in geo-registered coordinates. It is designed using current state of the art real-time modules for all processing steps. It employs commodity graphics hardware and standard CPU’s to achieve real-time performance. We present the main considerations in designing the system and the steps of the processing pipeline. Our system extends existing algorithms to meet the robustness and variability necessary to operate out of the lab. To account for the large dynamic range of outdoor videos the processing pipeline estimates global camera gain changes in the feature tracking stage and efficiently compensates for these in stereo estimation without impacting the real-time performance. The required accuracy for many applications is achieved with a two-step stereo reconstruction process exploiting the redundancy across frames. We show results on real video sequences comprising hundreds of thousands of frames.     

Texture synthesis via the matching compatibility between patches

A new patch-based texture synthesis method is presented in this paper. By the method, a set of patches that can be matched with a sampled patch for growing textures effectively, called the matching compatibility between patches, is generated first for each patch, and the set is further optimized by culling the patches that may cause synthesis conflicts. In this way, similarity measurement calculation for selecting suitable patches in texture synthesis can be greatly saved, and synthesis conflicts between neighbouring patches are substantially reduced. Furthermore, retrace computation is integrated in the synthesis process to improve the texture quality. As a result, the new method can produce high quality textures as texture optimization, the best method to date for producing good textures, and run in a time complexity linear to the size of the output texture. Experimental results show that the new method can interactively generate a large texture in 1024 × 1024 pixels, which is very difficult to achieve by existing methods. Supported by the National Basic Research Program of China (Grant No. 2009CB320802), the National Natural Science Foundation of China (Grant Nos. 60773026, 60833007), the National High-Tech Research & Development Program of China (Grant Nos. 2006AA01Z306, 2008AA01Z301), and the Research Grant of University of Macau     

柔性支撑Stewart平台自适应交互PID隔振控制

为了实现500 m口径球面射电望远镜(five hundred meter aperture spherical radio telescope, FAST)二级精调稳定平台对馈源舱隔振控制的定位和指向精度, 首先提出了基于并联机构学原理的3维机动目标跟踪预测算法, 对柔性支撑Stewart平台的基座运动进行跟踪预测. 进而,在Stewart平台关节空间设计了自适应交互PID控制器, 引入自适应交互算法解决PID参数的实时调整, 以适应柔性支撑Stewart平台的参数变化对不同控制参数的需求. 采用现代机电系统仿真策略, 对柔性支撑Stewart平台隔振系统的动力学与控制问题进行了仿真, 结果表明: 与传统的PID控制器相比, 自适应交互PID控制器大大改善了隔振效果, 完全满足隔振目标的要求.