Tracking control of high-performance robots via stabilizing controllers for uncertain systems

The development of flexible manufacturing systems calls for industrial robots characterized by robustness of performance with regard to the variations of the loads and real time specification of the trajectory in the work space. In this paper, the design of a feedback controller guaranteeing such performance is considered. At first, the manipulator dynamics are embedded into a larger class of uncertain dynamical systems and a class of feedback controls is proposed that guarantees uniform ultimate boundedness of the tracking error. Successively, the methodology is specialized for the case of robotic manipulators to track trajectories described in task-oriented coordinates; the proposed control algorithm operates without requiring any explicit coordinate transformation.     

Optimal control for semilinear evolutionary variational bilateral problem

This paper is concerned with an optimal control problem for some semilinear evolutionary variational inequalities associated with bilateral constraints. The control domain is a general separable metric space and has no algebraic structure, in particular, it is not necessarily convex. Existence and optimality conditions of optimal pairs are established.     

Oscillatory disturbance in force calibration of optical tweezers

In the calibration of the optical trap stiffness, it is found that there appears an attenuating oscillation as an oscillatory disturbance added to the trapped bead movement, when the scanner is driven by a triangular wave input.An equivalent oscillator model is put forward to explain the mechanism of the oscillatory disturbance. Both the measurements and calculations show that the attenuating oscillation comes from the oscillation of the scanner and the triangular wave drive causes this additional oscillation of the scanner. Furthermore, the analysis indicates that the oscillatory disturbance will become stronger, when the stiffness of the trap increases or the natural frequency of the scanner decreases. We adopt another driving way, i.e. a sinusoidal wave input is used instead of the triangular wave input. Our experiment has verified that in this case the oscillatory disturbance is eliminated completely.     

Creating new stable periodic orbit by small region feedback control

In this paper an important problem in chaos control theory concerningthe possibility of generating a new stable periodic solutionby a small feedback control law for a dynamical system is addressed.It is proved that a solution with an initial point being somekind of non-wandering property can become a new asymptoticallystable solution by a small feedback control law. This showsthat the popular opinion that a small control law is not ableto create a new periodic point is untrue, and suggests a newapproach to controlling chaos.     

Optimal vibration control of flexible spacecraft during a minimum-time maneuver

This paper is concerned with the simultaneous maneuver and vibration control of a flexible spacecraft. The problem is solved by means of a perturbation approach whereby the slewing of the spacecraft regarded as rigid represents the zero-order problem and the control of vibration, as well as of perturbations from the rigid-body maneuver, represents the first-order problem. The zero-order control is to be carried out in minimum time, which implies bang-bang control. On the other hand, the first-order control is a time-dependent linear quadratic regulator including integral feedback and prescribed convergence rate.This research was sponsored by USAF/ASD and AFOSR Research Grant F33615-86-C-3233 monitored by Drs. A. K. Amos and V. B. Venkayya, whose support is greatly appreciated.     

Active constraints,indefinite quadratic test problems,and complexity

The observation that at leasts constraints are active when the Hessian of the Lagrangian hass negative eigenvalues at a local minimizer is used to obtain two results: (i) a class of nearly concave quadratic minimization problem can be solved in polynomial time; (ii) a class of indefinite quadratic test problems can be constructed with a specified number of positive and negative eigenvalues and with a known global minimizer.The authors thank the reviewers for their constructive comments. The first author was supported by the National Science Foundation Grant DMS-85-20926 and by the Air Force Office of Scientific Research Grant AFOSR-ISSA-86-0091.     

一类传染病模型的优化预控制设计分析

首先给出了牲畜(家禽)的传染病(禽流感、口蹄疫)的控制策略模型,控制措施包括两个方面:一,除掉那些已经被确诊的被传染的种群.二,对那些认为处于疫区的,可能被传染的种群采取预控制(隔离、提前宰杀).因为预控制并不能辨别出哪些群体是真正的接触者,所以这种控制措施将导致把感染者和健康的一并除掉,这就产生了一个矛盾:控制强度的加大能够减少疾病的传播率,但同时增加了无辜者被宰杀的群体的数量,并且证明了一个优化的控制策略,它能够减少由于过多捕杀带来的损失.     

一类具年龄结构种群动力系统的最优控制

研究一类具年龄结构种群线性动力系统的最优控制问题 .由Mazur’s定理 ,我们证明了最优控制问题 (OH)最优解的存在性 ,同时借助于法锥概念 ,我们还得到了最优控制问题 (OH)最优解存在的必要条件     

非线性动力系统多阶段辨识模型、算法及应用

本文针对一类发酵过程中的发育期、生长期及稳定期的不同特性，提出一种非线性多阶段动力系统及其辨识模型。论述了该模型是一种特殊的多阶段最优控制问题。根据子控制问题性能指标下水平集的局部一致有界性及下半连续性，证明了子控制问题可控性及最优解集为非空紧集。依此性质构造优化算法，研制相应的数学软件，并应用于间歇发酵过程中的参数辨识。其数值结果表明：该多阶段模型比已有模型更能逼近实际过程，提高了模型的精度，使模型更为有效。     

Electric field control of exciton states in quantum dot molecules

Semiconductor nanostructures have attracted considerable interest during the recent years in view of the potential application in quantum information processing. In particular, quantum dots have been suggested to fulfill an essential requirement for quantum computation: controllable interaction that couples two quantum dot qubits. Previous experiments on two vertically aligned quantum dots have demonstrated the formation of coupled exciton states. We show that this coupling between two In_0.60Ga_0.40As/GaAs quantum dots can be tuned by an electric field applied along the molecule axis. This controllable coupling in such a relatively simple configuration could be implemented in a solid-state-based quantum device.