PID Control of Planar Nonlinear Uncertain Systems in the Presence of Actuator Saturation

This paper investigates PID control design for a class of planar nonlinear uncertain systems in the presence of actuator saturation. Based on the bounds on the growth rates of the nonlinear uncertain function in the system model, the system is placed in a linear differential inclusion. Each vertex system of the linear differential inclusion is a linear system subject to actuator saturation. By placing the saturated PID control into a convex hull formed by the PID controller and an auxiliary linear feedback law, we establish conditions under which an ellipsoid is contractively invariant and hence is an estimate of the domain of attraction of the equilibrium point of the closed-loop system. The equilibrium point corresponds to the desired set point for the system output. Thus, the location of the equilibrium point and the size of the domain of attraction determine, respectively, the set point that the output can achieve and the range of initial conditions from which this set point can be reached. Based on these conditions, the feasible set points can be determined and the design of the PID control law that stabilizes the nonlinear uncertain system at a feasible set point with a large domain of attraction can then be formulated and solved as a constrained optimization problem with constraints in the form of linear matrix inequalities (LMIs). Application of the proposed design to a magnetic suspension system illustrates the design process and the performance of the resulting PID control law.      

非线性系统鲁棒吸引的动态补偿方法

考虑非线性不确定系统的鲁棒吸引问题,借助于动态输出反馈,构造了两类控制律。这两类控制律分别可使相应的闭环系统被一任意小的区域鲁棒吸引,或被一预先设置的区域有限吸引。     

基于约束优化的联想记忆模型学习算法

本文提出了一种对称互连神经元网络的学习策略,利用全局约束优化方法确定连接权。优化过程采用了梯度下降技术。这种学习算法可以保证训练样本成为系统的稳定吸引子,并且具有优化意义上的最大吸引域。本文讨论了网络的存储容量,训练样本的渐近稳定性和吸引域大小。计算机实验结果说明了学习算法的优越性。     

Interpersonal attraction and personality: What is attractive--self similarity, ideal similarity, complementarity or attachment security?

Little is known about whether personality characteristics influence initial attraction. Because adult attachment differences influence a broad range of relationship processes, the authors examined their role in 3 experimental attraction studies. The authors tested four major attraction hypotheses--self similarity, ideal-self similarity, complementarity, and attachment security--and examined both actual and perceptual factors. Replicated analyses across samples, designs, and manipulations showed that actual security and self similarity predicted attraction. With regard to perceptual factors, ideal similarity, self similarity, and security all were significant predictors. Whereas perceptual ideal and self similarity had incremental predictive power, perceptual security's effects were subsumed by perceptual ideal similarity. Perceptual self similarity fully mediated actual attachment similarity effects, whereas ideal similarity was only a partial mediator. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Olfactory recognition of nonhosts aspen and birch by conifer bark beetlesTomicus piniperda andHylurgops palliatus

The field response ofTomicus piniperda (L.) andHylurgops palliatus (Gyll.) (Coleoptera: Scolytidae) to the attractant ethanol in combination with volatile wood constituents released from the nonhost tree speciesPopulus tremula L. (Salicaceae) andBetula pendula Roth (Betulaceae) was studied using flight barrier traps. The attraction of both species decreased when aspen or birch wood was added to the ethanol bait. The same was true forRhizophagus depressus (F.) (Coleoptera: Rhizophagidae), a predatory species associated with conifer bark beetles.Glischrochilus quadripunctatus (L-),Epuraea bickhardti St.-Claire Deville,E. unicolor (Oliv.) (Coleoptera: Nitidulidae), andRhizophagus parvutus (Payk.) (Coleoptera: Rhizophagidae) were caught in higher numbers in traps baited with both ethanol and wood of aspen or birch than in traps baited with ethanol alone. In a separate experiment, landings ofT. piniperda andH. palliatus on nonhosts (black plastic tubes) were demonstrated with sticky traps.     

关于成都膨胀土地区边坡稳定性的探讨

成都市三环路建设中 ,膨胀土边坡稳定性研究是大家关心的重要课题。膨胀土边坡土体中的吸力变化直接影响到其稳定性 ,参照“人工神经网络技术”中的吸力经验公式 ,以三环路东一B标段的路堤边坡为例 ,采用“条分法”进行预测分析 ,并有针对性地进行防护处理取得了较好的效果。     

THE STICKY ISSUES OF DRYING

Unconrolled agglomeration of particles and adhesion of the particulate mass to wall surfaces are common severe problems in many drying operations. This paper reviews the mechanisms of interparticle and particle-surface attraction as well as the theory and the existing tests for characterising powders in terms of internal strength, wall friction and adhesion. The usefulness of the information obtained from these tests in dryer design and operation is critically reviewed. The importance of powder stickiness in various types of dryers is discussed and established methods of combating the problem are presented Recommendations an made for further research in the area of powder cohesion and adhesion.     

Saturation-based switching anti-windup design for linear systems with nested input saturation

This paper proposes a saturation-based switching anti-windup design for the enlargement of the domain of attraction of a linear system subject to nested saturation. A nestedly saturated linear feedback is expressed as a linear combination of a set of auxiliary linear feedbacks, which form a convex hull where the nestedly saturated linear feedback resides. This set of auxiliary linear feedbacks is then partitioned into several subsets. The auxiliary linear feedbacks in each of these subsets form a convex sub-hull of the original convex hull. When the value of the nestedly saturated linear feedback falls into a convex sub-hull, it can be expressed as a linear combination of the subset of all the auxiliary feedbacks that form the convex sub-hull. A separate anti-windup gain is designed for each convex sub-hull by using a common quadratic Lyapunov function and is implemented when the value of the nestedly saturated linear feedback falls into this convex sub-hull. Simulation results indicate that such a saturation-based switching anti-windup design has the ability to significantly enlarge the domain of attraction of the closed-loop system.     

Data-driven asymptotic stabilization for discrete-time nonlinear systems

In this paper, we propose a data-driven feedback controller design method based on Lyapunov approach, which can guarantee the asymptotic stability of the closed-loop and enlarge the estimate of domain of attraction (DOA) for the closed-loop. First, sufficient conditions for a feedback controller asymptotically stabilizing the discrete-time nonlinear plant are proposed. That is, if a feedback controller belongs to an open set consisting of pairs of control input and state, whose elements can make the difference of a control Lyapunov function (CLF) to be negative-definite, then the controller asymptotically stabilizes the plant. Then, for a given CLF candidate, an algorithm, to estimate the open set only using data, is proposed. With the estimate, it is checked whether the candidate is or is not a CLF. If it is, a feedback controller is designed just using data, which satisfies sufficient conditions mentioned above. Finally, the estimate of DOA for closed-loop is enlarged by finding an appropriate CLF from a CLF candidate set based on data. Because the controller is designed directly from data, complexity in building the model and modeling error are avoided.     

Schistosome behavior in vitro

Schistosome adults attract each other in vitro and the attraction is chemically mediated. InSchistosoma mansoni adults, excretory-secretory (ES) products of worms of one sex attract worms of the opposite sex, and at least the lipophilic fraction is attractive. Intra- and interspecific attraction occurs inSchistosoma mansoni, S. japonicum, andS. haematobium adults. Current knowledge of schistosome behavior in vitro is reviewed.