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1.
In this paper, tracking control of underactuated ship in the presence of input saturation is addressed. By dividing the tracking error dynamic system into a cascade of two subsystems, the torques in surge and yaw axes are designed separately using the backstepping technique. More specifically, we design the yaw axis torque in such a way that its corresponding subsystem is finite time stable, which makes it to be de-coupled from the second subsystem after a finite time. This enables us to design the torque in the surge axis independently. It is shown that the closed-loop system is stable and the mean-square tracking errors can be made arbitrarily small by choosing design parameters. Simulation results also verify the effectiveness of the proposed scheme. 相似文献
2.
This paper is concerned with the problem of joint input and state estimation for linear stochastic systems with direct feedthrough. Based on the fact that each unknown input between any two time steps is always bounded, a novel improved algorithm is proposed. Compared with existing results, this algorithm can effectively enhance estimation accuracy. Moreover, the stability of the algorithm is also discussed. Finally, an illustrative example is given to demonstrate the effectiveness of the proposed approach. 相似文献
3.
Windows平台下的汉字输入法机制及应用 总被引:1,自引:0,他引:1
作者在Windows平台下,通过对E码汉字输入法系统实现的软件研发过程,本质地认识了Windows平台下的汉字输入法系统的实现原理及其基本方法;本文对Windows IME系统的两个主要组成部分:转换引擎和界面模块以及二者之间的交互关系进行了深入的分析,并揭示了Windows平台下整个汉字输入法系统的底层运转机制。 相似文献
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5.
本文提出一种新的ATM交换排队结构——成组输入排队结构(GIQ),其基本思想是将输入端分组,同一组的输入端共享排队缓存。GIQ不仅能提高缓存的利用率和系统的吞吐率(达到96.2%),而且还能大大改善交换结构的抗突发能力。采用计算机仿真模拟的方法,分析了GIQ在均匀连续业务流和突发业务流下的性能,并与其它输入排队结构的性能进行了比较。 相似文献
6.
本文较系统、通俗地介绍了模拟视频特技切换台的矩阵输入、混合/效果放大器(M/E)、下游键、系统控制和同步发生器等电路单元,介绍了特技切换台的切换、混合、扫变、键控的基本原理和功能。 相似文献
7.
Shumin Zhai Jing Kong Xiangshi Ren 《International journal of human-computer studies》2004,61(6):823-856
Pointing tasks in human–computer interaction obey certain speed–accuracy tradeoff rules. In general, the more accurate the task to be accomplished, the longer it takes and vice versa. Fitts’ law models the speed–accuracy tradeoff effect in pointing as imposed by the task parameters, through Fitts’ index of difficulty (Id) based on the ratio of the nominal movement distance and the size of the target. Operating with different speed or accuracy biases, performers may utilize more or less area than the target specifies, introducing another subjective layer of speed–accuracy tradeoff relative to the task specification. A conventional approach to overcome the impact of the subjective layer of speed–accuracy tradeoff is to use the a posteriori “effective” pointing precision We in lieu of the nominal target width W. Such an approach has lacked a theoretical or empirical foundation. This study investigates the nature and the relationship of the two layers of speed–accuracy tradeoff by systematically controlling both Id and the index of target utilization Iu in a set of four experiments. Their results show that the impacts of the two layers of speed–accuracy tradeoff are not fundamentally equivalent. The use of We could indeed compensate for the difference in target utilization, but not completely. More logical Fitts’ law parameter estimates can be obtained by the We adjustment, although its use also lowers the correlation between pointing time and the index of difficulty. The study also shows the complex interaction effect between Id and Iu, suggesting that a simple and complete model accommodating both layers of speed–accuracy tradeoff may not exist. 相似文献
8.
红外焦平面探测器的输入电路性能分析 总被引:3,自引:0,他引:3
在混合式红外焦平面阵列中,探测器和读出电路之间的耦合是通过输入电路完成的。本文论述了输入电路在焦平面传输中的作用,分析了焦平面输入电路的性能,讨论了焦平面输入电路对红外焦平面阵列探测器设计的影响。 相似文献
9.
计算机技术领域中,使用键盘输入汉字的方法实质是区位码/国标码输入法。本文介绍了区位码/国标码输入法的现实意义,IME的组成结构以及区位码/国标码输入法的发展动态。主要说明区位码/国标码输入法在中文键盘输入法的重要地位,并简单分析了中文键盘输入法编辑器的组成结构等技术。 相似文献
10.
MODELING AND PREDICTIVE CONTROL OF MIMO NONLINEAR SYSTEMS USING WIENER-LAGUERRE MODELS 总被引:1,自引:0,他引:1
Prabirkumar Saha S. H. Krishnan V. S. R. Rao Sachin C. Patwardhan 《Chemical Engineering Communications》2004,191(8):1083-1119
In this work, a Weiner-type nonlinear black box model was developed for capturing dynamics of open loop stable MIMO nonlinear systems with deterministic inputs. The linear dynamic component of the model was parameterized using orthogonal Laguerre filters while the nonlinear state output map was constructed either using quadratic polynomial functions or artificial neural networks. The properties of the resulting model, such as open loop stability and steady-state behavior, are discussed in detail. The identified Weiner-Laguerre model was further used to formulate a nonlinear model predictive control (NMPC) scheme. The efficacy of the proposed modeling and control scheme was demonstrated using two benchmark control problems: (a) a simulation study involving control of a continuously operated fermenter at its optimum (singular) operating point and (b) experimental verification involving control of pH at the critical point of a neutralization process. It was observed that the proposed Weiner-Laguerre model is able to capture both the dynamic and steady-state characteristics of the continuous fermenter as well as the neutralization process reasonably accurately over wide operating ranges. The proposed NMPC scheme achieved a smooth transition from a suboptimal operating point to the optimum (singular) operating point of the fermenter without causing large variation in manipulated inputs. The proposed NMPC scheme was also found to be robust in the face of moderate perturbation in the unmeasured disturbances. In the case of experimental verification using the neutralization process, the proposed control scheme was found to achieve much faster transition to a set point close to the critical point when compared to a conventional gain-scheduled PID controller. 相似文献