非线性增益递归滑模动态面自适应NN控制

针对一类严反馈非线性不确定系统的跟踪控制问题,提出一种非线性增益递归滑模动态面 (Dynamic surface control, DSC)自适应控制方法. 通过设计一个新的非线性增益函数,并构造递归滑模动态面的控制策略和新的Lyapunov函数,同时利用神经网络在线逼近系统不确定项, 该方法有效解决了具有输入饱和约束条件下系统控制精度与动态品质间的矛盾,增强了控制器对其自身参数摄动的非脆弱性. 理论证明了闭环系统所有状态是半全局一致最终有界的,且跟踪误差可收敛至任意小.     

Studies on the response of ‘Tifblue’ and ‘Woodard’ rabbiteye blueberries to fertilizers

A field study was conducted to investigate the effects of three fertilizer placement methods and 11 fertilizer formulations on plant survival, economics of replanting, yield, and fruit size of two rabbiteye blueberry (Vaccinium ashei Reade) cultivars Tifblue and Woodard. Fertilizer rates were either mixed with the soil under plants (before planting), sidedressed, or half-rate was placed under plants with the other half sidedressed. Fertilizers at planting caused a total of 34% Woodard and 12% Tifblue plants to die as compared to 6% for Woodard and none for Tifblue when no fertilizer was applied. Fertilizer formulas 2-1-1 and 5-10-10 oxide ratios placed under Woodard plants caused 100% mortality whereas Tifblue fertilized with oxide ratios 2-2-2 and 5-10-10 under plants reached the maximum 50% mortality. Splitting fertilizer placement under the side of the plants resulted in less Woodard plant mortality (30%) than placing all the fertilizer under plants (54%). However, plant mortality for the side/under group was not different than sidedressing all fertilizer (23%). A planted hectare in this experiment consisted of 1852 Tifblue and 926 Woodard plants, providing one Woodard plant to pollinate two Tifblue plants. Based on the results obtained, the 5-10-10 fertilizer placed under plants would be expected to cause half the Tifblue (926 plants) and all the Woodard (926 plants) to be replanted. Plant costs alone was estimated to be $2315 with additional replanting costs of $93 for Tifblue and much higher for Woodard. Sidedressing 5-10-10 fertilizer eight weeks after planting would have prevented plant mortality. Placement of various fertilizers under Woodard or Tifblue plants resulted in a significant increase in plant mortality as compared to side placement of fertilizers. Yield loss due to plant mortality increased linearly with the N level of the fertilizers (ranging from 0 to 2) for both cultivars. Woodard fruit size was not affected by fertilizer placement but placing fertilizers under Tifblue plants produced smaller yields with larger fruit than sidedressed plants. Blueberry plants in a virgin acidic soil may experience no reduction in yield if fertilization is completely eliminated.     

Robust cascaded automatic cruise control of electric vehicles

This article focuses on automatic cruise control for electrically driven vehicles. The objective is to track a given vehicle‐velocity profile. For this type of application, the so‐called wheel slip plays a key role, as it is a measure for the force transmitted from the wheel to the road. Conventional wheel‐ slip controllers are usually activated if the absolute value of the slip exceeds pre‐assumed thresholds. Furthermore, it is distinguished between a braking and acceleration maneuver using separately designed and implemented controllers. In contrast, the proposed concept requires neither an activation strategy for the slip controller nor a distinction between braking and acceleration. The cascaded control structure is based upon adaptive‐gains super twisting sliding‐mode algorithm, and the friction force estimator is realized as a second‐order sliding‐mode observer with constant gains. The effectiveness and robustness of the proposed concept are demonstrated in numerical simulations using a complex multibody vehicle model. Copyright © 2015 John Wiley & Sons, Ltd.     

Multi‐parametric extremum seeking‐based iterative feedback gains tuning for nonlinear control

We study in this paper the problem of iterative feedback gains auto‐tuning for a class of nonlinear systems. For the class of input–output linearizable nonlinear systems with bounded additive uncertainties, we first design a nominal input–output linearization‐based robust controller that ensures global uniform boundedness of the output tracking error dynamics. Then, we complement the robust controller with a model‐free multi‐parametric extremum seeking control to iteratively auto‐tune the feedback gains. We analyze the stability of the whole controller, that is, the robust nonlinear controller combined with the multi‐parametric extremum seeking model‐free learning algorithm. We use numerical tests to demonstrate the performance of this method on a mechatronics example. Copyright © 2016 John Wiley & Sons, Ltd.     

受控旋转弹飞行动力学建模和稳定性分析

选取带有控制系统的旋转弹为研究对象,考虑到控制环节不可避免的时滞及气动非线性效应,从理论上进一步完善了旋转弹动力学模型.从模型的特征方程出发,以时滞、控制增益为分岔参数,对系统的零平衡点稳定性进行了分析,得到平衡点失稳后发生Hopf分岔的临界参数值,并在理论预测的情况下数值模拟了攻角和侧滑角在不同情况下的失稳情况以及Hopf分岔周期解振幅随分岔参数的变化情况.数值结果表明了理论预测的正确性,时滞虽未改变旋转弹锥形运动方式,但是却大幅度的减小了稳定飞行控制增益的取值范围,因此在旋转弹姿态稳定性系统设计过程中时滞的影响不可忽略.     

论科学技术研究效益的三大变化规律

提出了科学技术研究效益的三大变化规律:从投入成本与产出成果数的关系看,它与研究项目的深度与复杂程度成反比,与所处年代无直接关系;从投入成本与产出的经济社会效益看,科研项目投入大,收益大,投入与获益之比是稳定的,不随规模的变化而变化;从高效益领域来看,从以纵向深入发展为主转向以横向关系的新发现为主,从以科学为主转向以技术为主,从以小规模为佳转向以大小规模结合为佳.并进行了相应的量化研究.     

论无权处分合同效力的认定

无权处分合同效力的认定,是一个需要众多民事法律制度配合,进行体系化调整的复杂法律问题。我国《合同法》将其规定为效力待定合同,与善意取得制度,合同相对性理论等民法原理和制度发生矛盾和冲突。对《合同法》第51条的规定进行了检讨,指出无权处分合同的效力的认定应以物权变动模式为其制度前提。     

Relative efficacy of reciprocal and nonreciprocal peer tutoring for students at-risk for academic failure.

This study directly compared the academic gains of reciprocal peer tutoring, nonreciprocal peer tutoring, and a waiting-list control group. Participants included 59 elementary students from second-, third-, and fourth-grade classrooms who performed below average on curriculum-based measurement (CBM) math probes. Students involved in peer tutoring were trained to tutor basic math facts using a constant time delay procedure. Results indicated that the two types of peer tutoring produced comparable gains in basic math facts. Furthermore, both types of peer tutoring produced substantially larger academic gains than the waiting-list control group, demonstrating at-risk students can successfully tutor each other. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

阵列通道复增益盲估计

在阵列接收机各通道增益和相位不一致时,基于模型的超分辨波达方向估计性能大大下降。在已知２个信号的波达方向差的条件下,提出一种基于四阶累量进行盲信号处理的新算法。在方法中首先求出阵列流形,然后利用搜索法估计阵列通道复增益矩阵。