基于苯丙氨酸解氨酶的生物传感器线性化研究

针对苯丙氨酸解氨酶生物传感器非线性特性，依据最小二乘法理论，采用最优化技术，建立了最佳拟合直线的数学模型，并给出基于可编程控制器的数据拟合程序，实际运行表明，该方法克服了生物传感器校正传统方法拟合准确度低的缺点，对生物传感器线性化研究提供了新思路。     

Adaptive-like control methodologies for a CSTR system with dynamic actuator constraints

This paper deals with a catalytic continuous stirred tank reactor example, modeled as a two-input constrained nonlinear system. Under the Lyapunov-based linearization strategy, the saturation-type parameterized control design can reduce the effect of actuator subject to amplitude and rate constraints. Using the two-input control framework, it turns out to be robust against unknown disturbances, and it also ensures the asymptotic output regulation. For the purpose of practical implementation, the adaptive-like control methodology is developed. A reduced-order nonlinear observer plus the integration of both controllers is synthesized. Our results are illustrated via numerical simulation.     

Query based model learning and stable tracking of a robot arm using radial basis function network

In the context of a robot manipulator, a generalized neural emulator over the complete workspace is very difficult to obtain because of dimensionally insufficient training data. A query based learning algorithm is proposed in this paper that can generate new examples where control inputs are independent of states of the system. This algorithm is centered around the concept of network inversion using an extended Kalman filtering based algorithm. This is a novel idea since robot manipulator is an open loop unstable system and generation of control input independent of state is a research issue for neural model identification. Two trajectory independent stable control schemes have been designed using the neural emulator. One of the control schemes uses forward-inverse-modeling approach to update the controller parameters adaptively following Lyapunov function synthesis technique. The proposed scheme is trajectory independent unlike the back-propagation scheme. The second type of controller predicts the minimum variance estimate of control action using recall process (network inversion) and the control law is derived following a Lyapunov function synthesis approach so that the closed loop system consisting of controller and neural emulator remains stable. The simulation experiments show that the model validation approach is efficient and the proposed control schemes guarantee stable accurate tracking.     

基于精确线性化的MIMO双线性系统预测函数控制

针对典型多输入多输出双线性系统, 提出了基于非线性过程精确反馈解耦线性化的预测函数控制方法这是一种分层的控制策略, 首先设计一个静态的非线性状态反馈, 使得闭环系统是输入输出解耦和线性的;然后设计一组单输入单输出预测函数控制器, 下层为上层预测函数控制提供一组单输入单输出模型, 而上层预测函数控制以其固有的鲁棒性来补偿参数变化和解耦线性化的近似性, 并以纸机加压网前箱为例进行了仿真实验, 结果是令人满意的.     

数值鲁棒的非线性滤波新方法

应用多维情形的二阶插值公式构造新型非线性滤波器。该滤波器不需非线性函数的偏导计算，便能代替常规的扩展卡尔曼滤波器，并有滤波精度高、数值计算稳定和适用范围宽等优点。仿真实例表明新滤波器具有较高的性能。     

Trajectory tuning for the tracking problem of the underactuated mechanical systems: application to the PVTOL aircraft

The Planer vertical take-off and landing (PVTOL) aircraft is a typical example of an underactuated mechanical system and has a nonminimum-phase nature. When considering output tracking control, the Input/Output (I/O) linearization method is not appropriate since the stability of the internal dynamics is not guaranteed. Hauser et al. regarded this system as a slightly nonminimum-phase system which approximates to a minimum-phase one. Their control scheme yielded good results when the coupling factor was small, but the results were not acceptable when the coupling factor increased. In this article, we propose two approaches to improve the control performance. First, we consider the approximation error of Hauser's scheme as uncertainty, and apply the Linear Quadratic Regulator (LQR) method, which possesses robustness against uncertainty, to determine the stabilizing feedback coefficients. Second, from the fact that the tracking error is unavoidable, we use the “virtual reference trajectory” to design the tracking control law, and optimize this trajectory to reduce the tracking error between the “actual reference trajectory” and the “resulting trajectory”. This optimization also improves the control performance by choosing a suitable performance index. By using our approach, we achieve better performance even if the coupling factor is increased. We show these results by numerical simulation. This work was presented, in part, at the Seventh International Symposium on Artificial Life and Robotics, Oita, Japan, January 16–18, 2002     

Consistency property of extended least-squares parameter estimation for stochastic diffusion equation

The extended least-squares parameter estimate for stochastic heat diffusion equations is considered. The unknown parameter is a heat diffusion coefficient which is a function of a spatial variable. Almost sure convergence for the estimated parameter is proved. A numerical example is demonstrated for supporting the theoretical results developed here.     

The Linear Dynamic Complementarity Problem is a special case of the Extended Linear Complementarity Problem

In this paper we consider some extensions of the Linear Complementarity Problem, which is one of the fundamental problems in mathematical programming. More specifically we consider the Linear Dynamic Complementarity Problem (LDCP), the Generalized Linear Complementarity Problem (GLCP) and the Extended Linear Complementarity Problem (ELCP). In this note we show that the LDCP is a special case of the ELCP and the GLCP.     

油气勘探地图数据库PEMDB的设计与实现

提出了油气勘探地图数据库ＰＥＭＤＢ应用系统的系统设计与实现方案。使用广义关系数据模式存储地图属性和图形信息。以实现地图的存储，管理，更新与查询操作。基地地图固定网络空间划分的面向图元素对象的四分树空间索引机制和面向图元素对象的间空检索技术。有效地实现了图形对象的地图编辑和工程应用图件的生成。     

柔性机器人的动力学建模及其控制*

本文首先综述了近年来在柔性机器人动力学建模方面所取得的进展，着重介绍了目前较常见的几种建模方法和模型，同时对柔性机器人的控制问题进行了评述，指出了今后研究的方向。