奇异系统的干扰解耦

本文针对线性的不变奇异系统，讨论了利用一般状态反馈及前馈控制的组合来达到其干扰解耦的条件．文中构造性地给出了这一问题可解的充分必要条件．     

非线性系统的自抗扰控制引论

系统的不确定和外部干扰是控制理论的主要敌手。最近二十年出现了一个新的对付不确定的控制方法称为自抗扰控制。本文旨在介绍一本这方面的新书:Active Disturbance Rejection Control for Nonlinear Systems:An Introduction,及其相关的背景。该书是一本自抗扰控制数学理论著作。为了引出本书的主要内容,我们扼要介绍了几种其他的对付系统不确定的控制方法,包括鲁棒H∞-控制、滑模控制、自适应控制以及内模原理,说明自抗扰控制的主要思想和与这些方法的异同之处。特别是指出了自适应控制、内模原理的估计和消除策略及其在自抗扰控制中的大规模应用。     

Disturbance tolerance and rejection of discrete switched systems with time-varying delay and saturating actuator

This paper is concerned with the problems of disturbance tolerance and rejection of discrete switched systems with time-varying delay and saturating actuator. Using the switched Lyapunov function approach, a sufficient condition for the existence of a state feedback controller is proposed such that the disturbance tolerance capability of the closed-loop system is ensured. By solving a convex optimization problem with linear matrix inequality (LMI) constraints, the maximal disturbance tolerance is estimated. In addition, the problem of disturbance rejection of the closed-loop system is solved. Two examples are given to illustrate the effectiveness of the proposed method.     

On the approximation and the optimization of plates

This work is devoted to the study of simply supported and of clamped plates together with related variational inequalitiesand optimization problems. We introduce a new unitary approach based on distributed optimal control problems governed by second order elliptic boundary value problems and their penalization. This approach gives the possibility to approximate the solution via piecewise linear continuous finite elements and is simpler than other methods considered in the literature.The convergence with respect to the penalization parameter (?) is proved under very general assumptions.

In order to solve the obtained control problems, optimization procedures of steepest descent type are considered. Relevantnumerical examples illustrate the applicability of the proposed methods.     

Active Disturbance Rejection Control of Quadrotor UAVs Based on Joint Observation and Feedforward Compensation北大核心CSCD

为解决模型参数不确定与外界干扰影响下,四旋翼无人机飞控作业中姿态与轨迹跟踪精度下降,反应迟缓的问题,利用拓展Kalman滤波应对非线性系统问题出色的适应能力和噪声抑制能力,对四旋翼状态信息进行初步估算来抑制高频信号干扰,从而降低了扩张状态观测器的估计负担.同时,与扩张状态观测器联合估计由系统不确定性参数与外界扰动联合组成的“总扰动”,使系统对于精确模型的依赖性降低,并利用扰动估计的微分值进行前馈补偿,以提高对突变扰动的跟踪精度,克服了突变干扰下的相位滞后现象.综合联合观测器、带前馈补偿的LESO及带误差补偿的PD控制律,形成了一种利用拓展Kalman滤波与前馈补偿后的扩张状态观测器联合观测扰动,能较大程度抑制高频噪声和突变扰动的改进型自抗扰控制器.仿真与实验结果表明,联合观测器能有效地减小观测误差幅值且能超前校正观测相位滞后,从而更好地得到更精确的状态信息,改进型自抗扰控制器能更好地满足四旋翼飞行器快速反应、高效稳定的控制要求,精准高效地完成复杂轨迹跟踪.     

Optimal Noise Rejection in Structural Analysis by Means of Generalized Sampled-Data Hold Functions

In this paper, a technique for optimal noise rejection, based on generalized sampled-data hold functions is applied to the control of civil engineering structures. The technique consists in suitably modulating the sampled outputs of the system under control by periodically varying functions in order to attenuate the effect of the disturbances on the system states to an acceptable level, by minimizing a quadratic cost function. This minimization is performed by feeding back the outputs of the system, which are assumed to be corrupted by measurement noise. Moreover, in the present paper, the robustness properties of the GSHF based optimal regulator is analyzed and guaranteed stability margins, expressed in terms of elementary cost and system matrices, are proposed for such a type of optimal regulators. The effectiveness of the method is demonstrated by various simulation results. The results of the paper can be used to assess the detrimental effect of noise on the closed-loop system and the tradeoff involved in assuring good sampled-data performance and sufficient robustness.     

Attitude control of rigid spacecraft with disturbance generated by time varying exosystems

This paper is concerned with the problem of attitude control and disturbance rejection of rigid spacecraft in the presence of parameter uncertainty. It is assumed that the external disturbance is generated by some time varying exosystems. The unit quaternion is used as the kinematic variables since it is free of singularity. An internal model and an adaptive control law are proposed. The parameter uncertainty caused by the unknown inertia matrix is handled by combining the semi-tensor product and adaptive control method. The asymptotical stability of the closed-loop system is given via backstepping and Lyapunov analysis. Finally, an illustrative example is provided to show the effectiveness of the proposed approach.     

一特殊情形不可中断的两台可拒绝同型平行机在线排序问题

讨论一特殊情况的两台可拒绝同型机在线排序问题的近似算法.设有两台同型机,工件逐个到达,可以被接受加工,消耗一定的加工时间tj,也可以被拒绝,但要付出一定的罚值pj,目标是要使被加工工件的最大完工时间(makespan)和拒绝工件的罚值之和最小.假设每个工件的罚值和加工长度成固定的比例α∈[0,+∞),即pj=αtj,针对工件加工不可中断情形,设计出算法NPRL,证明其参数竞争比,同时又给出问题下界,它们均为α的分段函数.算法NPRL在α∈0,2 2∪[1,+∞)已达到最优.     

嫦娥三号软着陆轨道设计与控制策略的优化模型

针对嫦娥三号软着陆轨道设计与控制策略问题,在合理假设的前提下,建立动力学模型,求解得到了嫦娥三号着陆准备轨道近月点和远月点的速度。针对软着陆过程的6个阶段,通过受力分析,建立了嫦娥三号运动的微分方程模型,以燃料消耗最小为优化目标,以每个阶段的起止状态为约束条件,将软着陆轨道的优化设计问题转化为主发动机推力的泛函极值问题,并将其控制函数转化为近似的多项式函数优化问题。运用四阶Runge-Kutta差分迭代方法进行求解计算,从而得到各个阶段的最优控制函数和控制策略。结果表明,嫦娥三号软着陆过程耗时695s,消耗燃料1 269.1kg。     

Statistical Asymptotic Theory of Active Learning

We study a parametric estimation problem. Our aim is to estimate or to identify the conditional probability which is called the system. We suppose that we can select appropriate inputs to the system when we gather the training data. This kind of estimation is called active learning in the context of the artificial neural networks. In this paper we suggest new active learning algorithms and evaluate the risk of the algorithms by using statistical asymptotic theory. The algorithms are regarded as a version of the experimental design with two-stage sampling. We verify the efficiency of the active learning by simple computer simulations.     

On the Dido Problem and Plane Isoperimetric Problems

This paper is a continuation of a series of papers, dealing with contact sub-Riemannian metrics on R³. We study the special case of contact metrics that correspond to isoperimetric problems on the plane. The purpose is to understand the nature of the corresponding optimal synthesis, at least locally. It is equivalent to studying the associated sub-Riemannian spheres of small radius. It appears that the case of generic isoperimetric problems falls down in the category of generic sub-Riemannian metrics that we studied in our previous papers (although, there is a certain symmetry). Thanks to the classification of spheres, conjugate-loci and cut-loci, done in those papers, we conclude immediately. On the contrary, for the Dido problem on a 2-d Riemannian manifold (i.e. the problem of minimizing length, for a prescribed area), these results do not apply. Therefore, we study in details this special case, for which we solve the problem generically (again, for generic cases, we compute the conjugate loci, cut loci, and the shape of small sub-Riemannian spheres, with their singularities). In an addendum, we say a few words about: (1) the singularities that can appear in general for the Dido problem, and (2) the motion of particles in a nonvanishing constant magnetic field.     

On the optimal control of a single-server queueing system: Comment

In a recent paper by Scott and Jefferson, the optimal control of the service rate for a single-server queue with limited waiting space is treated by the maximum principle. We show that their control policies are necessarily suboptimal. Characterizations for optimal control are derived and used to obtain corresponding optimal trajectories in both nonsingular and singular regions.     

A Linear Complementarity Approach for the Non-convex Seismic Frictional Interaction between Adjacent Structures under Instabilizing Effects*

The paper deals with a numerical treatment of the dynamic hemivariational inequality problem concerning the elastoplastic-fracturing unilateral contact with friction between neighboring structures under second-order geometric effects during earthquakes. The numerical procedure is based on an incremental problem formulation and on a double discretization, in space by the finite element method and in time by the Houbolt method. The generally nonconvex constitutive contact laws are piece-wise linearized, and in each time-step a nonconvex linear complementarity problem is solved with a reduced number of unknowns.     

侧钻水平井轨道设计模型、算法及应用

本针对三维水平井轨道优化设计问题，建立了以非线性常微分方程为主要约束条件的最优控制模型。以均匀设计方法选初始点，并依此把允许区域分解为有限多个子域，在每个子域上构造了改进的Hooke-Jeeves优化算法，将它用于多口水平井的实际生产中，表明了本给出的模型、算法及软件的正确性与有效性。     

On the optimal design of plates for a given deflection

The optimum design problem of an elastic plate for a given deflection is considered. The design variable is chosen to be the thickness of the plate. Using the principle of stationary mutual potential energy first introduced by Shield and Prager, a sufficient optimality condition (which makes the volume stationary) is derived for plates under bending caused by general loading conditions. As an example, the optimum profile of a simply supported circular plate under a given rotationally symmetric loading is obtained.     

On the optimal design of tandem queueing systems with finite buffers

We consider tandem queueing systems that can be formulated as a continuous-time Markov chain, and investigate how to maximize the throughput when the queue capacities are limited. We consider various constrained optimization problems where the decision variables are of one or more of the following types: (1) expected service times, (2) queue capacities, and (3) the number of servers at the respective stations. After surveying our previous studies of this kind, we open up consideration of three new problems by presenting some numerical results that should give some insight into the general form of the optimal design.     

On the limit matrix obtained in the homogenization of an optimal control problem

A new formulation for the limit matrix occurring in the cost functional of an optimal control problem on homogenization is obtained. It is used to obtain an upper bound for this matrix (in the sense of positive definite matrices).     

状态和控制均含时滞的受外界扰动的线性系统的最优控制

主要研究一类受外界持续扰动且状态和控制含不同时滞的线性系统的最优控制,首先通过变量代换,将系统化为控制不含时滞的滞后型微分系统.接着使用最优控制的极大值原理的必要条件,得到含超前和滞后项的两点边值问题.为了得到最优控制律的解析解,引进一个灵敏参数ε,得到两点边值问题序列,通过迭代法,得到最优控制律的解析解.并对外界扰动状态构造降维观测器,来实现最优控制律的物理可实现性.最后实例验证了上述方法的有效性.     

结构优化的并行迭代算法

本文提出一种结构分析和优化平行计算的方法,按结构总势能和结构重量最小化双目标组织算法,改变了完整(或近似完整)的结构分析与优化交替迭代的传统解法,全部计算在单元级进行,不需组装总刚度矩阵和求解系统平衡方程.这种算法具有步骤简单、占内存少、易编程的特点,可用于在微机上作结构优化设计.由于算法的并行性好,它特别适用于并行计算机系统.