Quantized-states-based adaptive control against unknown slippage effects of uncertain mobile robots with input and state quantization

An adaptive tracking design strategy based on quantized state feedback is developed for uncertain nonholonomic mobile robots with unknown wheel slippage effects. All state variables and control torques are assumed to be quantized by the state and input quantizers, respectively, in a network control environment. Thus, the quantized state feedback information is only available for the tracking control design. An approximation-based adaptive controller using quantized states is recursively designed to ensure the robust adaptive tracking against unknown wheel slippage effects where the quantized-states-based adaptive mechanism is derived to compensate for unknown wheel slippage effects, system nonlinearities, and quantization errors. The boundedness of the quantization errors and estimated parameters in the closed-loop system is analyzed by presenting some theoretical lemmas. Based on these lemmas, we prove the uniform ultimate boundedness of closed-loop signals and the convergence of the trajectory tracking error in the presence of wheel slippage effects. Simulations verify the effectiveness of the resulting tracking scheme.     

浅析几类双输入排队系统模型

从矩阵几何解的角度出发,分析了七种类型的Geom/Geom/(Geom/Geom)/H 双输入排队系统.对这几个模型进行了描述,使用拟生灭过程探讨了各类模型的矩阵结构,并给出了其状态转移概率矩阵.     

脉冲输入毒素对具有阶段结构的单种群生存影响的研究

研究了一类小容量污染环境中脉冲输入毒素对具有阶段结构的单种群生存问题,分别找到了种群生存与灭绝的阈值,利用不等式放缩技巧,得到了种群灭绝和持久生存的充分条件.利用MATLAB数值仿真,验证了理论结果的正确性,分析了毒素输入量,毒素输入周期及种群成长时间对种群生存的影响.     

Propagation of converging and diverging shock waves under isothermal condition

In this article the flows of perfect gas behind converging and diverging strong shock waves under isothermal condition in the cases of spherical and cylindrical symmetry are examined. A diverging shock wave is formed by energy supply according to a power law. These waves propagate in a uniform medium at rest and all conservation laws hold at the fronts of these shock waves. It was established that in the case of converging waves for any value of the ratios of specific heats the solution of the problem under consideration exists and is unique. When the problem has more than one solution. In the case of diverging shock waves the solution exists and is unique for any from the interval and any value of power in the energy input law. Received 4 August 1996 / Accepted 28 May 1996     

矩形板结构损伤的分区域神经网络识别方法

通过引入LM优化算法，针对矩形薄板中对称结构的损伤识别问题，提 出了一种基于神经网络的分区域分步识别方法. 对于预测输出量比较多且对预测精度要求比 较高的问题，常会出现网络训练时收敛速度慢、网络预测精度低，并且当网络训练达到目标 误差时，输出的预测量中常有某个输出量的误差还很大的情况. 针对这些问题，利用选 取的组合输入参数，提出了基于神经网络的分区域识别方法. 通过对悬臂板结构的数值模拟 结果表明：提出的分区域识别方法对结构损伤的分区和预测是可行和有效的， 其预测精度要明显的高于只用单个网络的预测结果，并且预测子网络对损伤的位置和程度是 同步输出的，从而避免了传统分步识别理论中子网络过多的问题.     

多功能SHPB装置及水泥石材料的动态性能研究

为了研究在一定温度和压力下的水泥石的动态力学性能，研制了多功能ＳＨＰＢ材料动态性能测试装置，该装置可分别进行材料的拉伸，压缩，扭转性能测试，拉，压试验可以在带围压和温度的三向应力状态下进行，文中还对水泥石改性材料的动态力学性能进行了实验研究。     

Comparison of microstructure and mechanical properties of ultra-narrow gap laser and gas-metal-arc welded S960 high strength steel

The microstructural characteristics and mechanical properties, including micro-hardness, tensile properties, three-point bending properties and Charpy impact toughness at different test temperatures of 8 mm thick S960 high strength steel plates were investigated following their joining by multi-pass ultra-narrow gap laser welding (NGLW) and gas metal arc welding (GMAW) techniques. It was found that the microstructure in the fusion zone (FZ) for the ultra-NGLW joint was predominantly martensite mixed with some tempered martensite, while the FZ for the GMAW joint was mainly consisted of ferrite with some martensite. The strength of the ultra-NGLW specimens was comparable to that of the base material (BM), with all welded specimens failed in the BM in the tensile tests. The tensile strength of the GMAW specimens was reduced approximately by 100 MPa when compared with the base material by a broad and soft heat affected zone (HAZ) with failure located in the soft HAZ. Both the ultra-NGLW and GMAW specimens performed well in three-point bending tests. The GMAW joints exhibited better impact toughness than the ultra-NGLW joints.     

Switching adaptive controllers to control fractional‐order complex systems with unknown structure and input nonlinearities

This article investigates the chaos control problem for the fractional‐order chaotic systems containing unknown structure and input nonlinearities. Two types of nonlinearity in the control input are considered. In the first case, a general continuous nonlinearity input is supposed in the controller, and in the second case, the unknown dead‐zone input is included. In each case, a proper switching adaptive controller is introduced to stabilize the fractional‐order chaotic system in the presence of unknown parameters and uncertainties. The control methods are designed based on the boundedness property of the chaotic system's states, where, in the proposed methods the nonlinear/linear dynamic terms of the fractional‐order chaotic systems are assumed to be fully unknown. The analytical results of the mentioned techniques are proved by the stability analysis theorem of fractional‐order systems and the adaptive control method. In addition, as an application of the proposed methods, single input adaptive controllers are adopted for control of a class of three‐dimensional nonlinear fractional‐order chaotic systems. And finally, some numerical examples illustrate the correctness of the analytical results. © 2014 Wiley Periodicals, Inc. Complexity 21: 211–223, 2015     

差分输入双积分电路在热电阻测温中的应用

针对常规分立双积分AD只能处理单端信号的问题,给出了一种输入和基准电压均支持差分信号的分立差分双积分AD。在热电阻测量中,把热电阻和基准电阻串联同一回路,以基准电阻压降作为基准,对热电阻的压降进行测量,并从软硬件两个方面对常见的误差因素进行对消处理。实验表明,该电路用于PT100测温时,跳字不超过0.1℃,精度可以达到±0.1℃,且对运放型号无特殊要求,是一种低成本、高精度的温度测量方案。