基于自寻最优模糊控制的自动频率跟踪

文章概述了在功率超中自动频率跟踪的基本原理，在分析自寻最优控制的方法和模糊控制方法的基础上，提出了一种自寻最优模糊控制方法，利用它来实现自动频跟踪，在超声吸引器上取得良好的应用效果。     

一种测量电视跟踪系统摄像头分辨率的新方法

提出了利用“辐射状分辨率图案”测量电视跟踪系统摄像头分辨率的新方法，它取了“分辨率板法”的优点，避免了目视分辨率板法的缺点。介绍了一种基于图像时空域特征的数字化测试系统。该系统利用图像采集卡实时采集电视跟踪系统摄像头输出的视频图像信号，通过数据和图像处理后计算出摄像头的分辨率。测试过程实现了自动化，试验重复性好，测试结果客观可靠，能够更加合理、准确地反映电视跟踪系统摄像头的成像质量。     

基于观测器的模型不确定的耦合时空混沌H∞跟踪控制

考虑子系统的时空耦合作用及模型的不确定性,实现模型不确定的耦合时空混沌的 跟踪控制非常困难.然而耦合时空混沌的每个子系统用一系列模糊逻辑模型逼近,同时考虑子 系统状态的不可测性,采用模糊观测器来估计子系统的状态.由于混沌模型的很多参数和动态 特性很难准确地确定即模型具有不确定性,因此在用模糊模型逼近的同时定会产生建模误差. 基于模糊模型及状态观测器,考虑混沌模型的不确定性,提出一种Ｈ∞ 模糊跟踪控制方法,实现模型不确定性的耦合时空混沌的鲁棒跟踪控制.将控制方 案表征为求解线性矩阵不等式问题,并用凸优化方法 关键词： 耦合时空混沌 模糊模型 模糊观测器 Ｈ∞模糊跟踪控 制 线性矩阵不等式     

Closed-form recursive formula for an optimal tracker with terminal constraints

Feedback control laws are derived for a class of optimal finite time tracking problems with terminal constraints. Analytical solutions are obtained for the feedback gain and the closed-loop response trajectory. Such formulations are expressed in recursive forms so that a real-time computer implementation becomes feasible. An example involving the feedback slewing of a flexible spacecraft is given to illustrate the validity and usefulness of the formulations.     

Numerical Solution of the Polymer System by Front Tracking

The paper describes the application of front tracking to the polymer system, an example of a nonstrictly hyperbolic system. Front tracking computes piecewise constant approximations based on approximate Riemann solutions and exact tracking of waves. It is well known that the front tracking method may introduce a blowup of the initial total variation for initial data along the curve where the two eigenvalues of the hyperbolic system are identical. It is demonstrated by numerical examples that the method converges to the correct solution after a finite time, and that this time decreases with the discretization parameter.For multidimensional problems, front tracking is combined with dimensional splitting, and numerical experiments indicate that large splitting steps can be used without loss of accuracy. Typical CFL numbers are in the range 10–20, and comparisons with Riemann free, high-resolution methods confirm the high efficiency of front tracking.The polymer system, coupled with an elliptic pressure equation, models two-phase, three-component polymer flooding in an oil reservoir. Two examples are presented, where this model is solved by a sequential time stepping procedure. Because of the approximate Riemann solver, the method is non-conservative and CFL numbers must be chosen only moderately larger than unity to avoid substantial material balance errors generated in near-well regions after water breakthrough. Moreover, it is demonstrated that dimensional splitting may introduce severe grid orientation effects for unstable displacements that are accentuated for decreasing discretization parameters.     

A meta-control algorithm for generating approximate solutions to binary integer programming problems

Binary integer program problems, which are known to be difficult to solve, have long been an important research area. We use a new approach with continualization techniques to find approximate solutions to binary integer programming problems. The algorithm constructs a sequence of approximations to a solution using a meta-control approach that has low polynomial time complexity. The algorithm is illustrated with a BIP example.     

Organelle Tracking in a Living Cell with Microsecond Time Resolution and Nanometer Spatial Precision

The study of cellular processes such as organelle transport often demands particle tracking with microsecond time‐resolution and nanometer spatial precision, posing significant challenges to existing tracking methods. Here, we have developed a novel strategy for two‐dimensional tracking of gold nanoparticles (GNPs) with 25 μs time resolution and ～1.5 nm spatial precision, by using a quadrant photodiode to record the positions of GNPs in an objective‐type dark‐field microscope. In combination with a feedback loop, this technique records long, high time‐resolution and spatial precision trajectories of endocytosed GNPs transported by the molecular motors kinesin and dynein in a living cell. In the full range of organelle velocities (0–8 μm s^?1), we clearly resolve the individual 8 nm steps of cargoes carried by kinesin, and the 8, 12, 16, 20, and 24 nm steps of those carried by dynein. These experiments yield new information about molecular motor stepping in living cells.     

机械臂运动路径规划的算法设计

我们对题目中所给的特定的六自由度机械手臂设计一整套通用的算法.让它能够实现点到点移动,有障碍的曲线跟踪,和避障点对点移动三种基本功能.并能自动生成控制台所需要的指令序列.最后我们会对模型的适用范围和准确性进行评价.     

Decentralized Adaptive Robust Tracking and Model Following for Large-Scale Systems Including Delayed State Perturbations in the Interconnections

The problem of decentralized robust tracking and model following is considered for a class of uncertain large-scale systems including delayed state perturbations in the interconnections. In this paper, it is assumed that the upper bounds of the delayed state perturbations, uncertainties, and external disturbances are unknown. A modified adaptation law with σ-modification is introduced to estimate such unknown bounds, and on the basis of the updated values of these unknown bounds, a class of decentralized local memoryless state feedback controllers is constructed for robust tracking of dynamical signals. The proposed decentralized adaptive robust tracking controllers can guarantee that the tracking errors between each time-delay subsystem and the corresponding local reference model without time-delay decrease uniformly asymptotically to zero. Finally, a numerical example is given to demonstrate the validity of the results.