摘要：Enlightened by distribution of creatures in natural ecology environment, the distributionpopulation-based genetic algorithm (DPGA) is presented in this paper. The searching capability ofthe algorithm is improved by competition between distribution populations to reduce the search *** method is applied to design of optimal parameters of PID controllers with examples, and thesimulation results show that satisfactory performances are obtained.

摘要：An alpha-uniformized Markov chain is defined by the concept of equivalent infinitesimalgenerator for a semi-Markov decision process (SMDP) with both average- and *** to the relations of their performance measures and performance potentials, the optimiza-tion of an SMDP can be realized by simulating the chain. For the critic model of neuro-dynamicprogramming (NDP), a neuro-policy iteration (NPI) algorithm is presented, and the performanceerror bound is shown as there are approximate error and improvement error in each iteration *** obtained results may be extended to Markov systems, and have much applicability. Finally, anumerical example is provided.

摘要：For a class of systems with unmodeled dynamics, robust adaptive stabilization problemis considered in this paper. Firstly, by a series of coordinate changes, the original system is re-parameterized. Then, by introducing a reduced-order observer, an error system is obtained. Basedon the system, a reduced-order adaptive backstepping controller design scheme is given. It is provedthat all the signals in the adaptive control system are globally uniformly bounded, and the regulationerror converges to zero asymptotically. Due to the order deduction of the controller, the design schemein this paper has more practical values. A simulation example further demonstrates the e?ciency ofthe control scheme.

摘要：The concept of finite-time stability for linear singular system is induced in this ***-time control problem is considered for linear singular systems with time-varying parametricuncertainties and exogenous disturbances. The disturbance satisfies a dynamical system with para-metric uncertainties. A su?cient condition is presented for robust finite-time stabilization via statefeedback. The condition is translated to a feasibility problem involving restricted linear matrix in-equalities (LMIs). A detailed solving method is proposed for the restricted linear matrix ***, an example is given to show the validity of the results.

摘要：研究了T S (Takagi Sugeno)模糊系统H∞ 控制设计问题 .放宽了KimE .等的T S模糊系统可二次稳定的条件 .给出了T S模糊系统新的观测器设计方法 .然后给出了T S模糊系统基于观测器的H∞ 控制存在的两个新的充分条件 .新方法不但简单 ,而且充分考虑了模糊子系统间的相互作用 .最后通过例子 ,应用LMI技术 ,说明了本文给出的T S模糊系统的基于观测器的H∞控制器的设计方法简便易行 .

摘要：研究了非完整移动机器人动力学模型中带有参数不确定和控制受限的鲁棒轨迹跟踪控制器的设计问题 .在建立移动机器人的全动态误差模型的基础上 ,应用滚动时域控制 (rHC)和线性矩阵不等式 (LMIs)方法 ,设计了鲁棒跟踪控制器 ,在满足非完整和控制约束的条件下 ,实现了机器人位置 ,导向角以及速度的同时渐近跟踪 .系统稳定性的充分条件以LMI的形式给出 .

摘要：将l2 -l∞ 性能指标引入时滞不确定离散时间系统 ,研究基于这一指标的滤波器设计问题 .所研究的对象是同时具有状态时滞和多面体不确定性的离散时间系统 .采用线性矩阵不等式技术推导了此类不确定系统鲁棒l2 -l∞ 滤波器存在的充分条件 ,并将滤波器的设计转化为一个凸优化的求解问题 ,可以采用较为有效的内点方法进行求解 .所设计的滤波器能够保证相对于所有能量有界的外界扰动信号 ,滤波误差系统具有一定的l2 -l∞ 扰动衰减水平 .数值仿真验证了所提出算法的可行性 .

摘要：研究机器人无标定手眼协调问题 .分析了图像空间到机器人操作空间之间的非线性映射关系 ,并把非线性的映射关系看成是系统的未建模动态 .基于自抗扰控制器思想 ,通过对系统未建模动态和外扰的补偿 ,完成了不依赖于任务的无标定手眼协调控制器的设计 ,实现了广泛意义的机器人无标定手眼协调控制 .

摘要：已知带两控制器的刚体飞行器系统不能被连续的纯状态反馈局部渐近镇定 .有效的解决方法包括时变反馈镇定方法和非连续反馈镇定方法 .现有的时变反馈镇定方法设计均较为复杂 .已有的光滑时变反馈方法是非指数收敛的 .本文通过引入辅助变量以及采用反馈线性化技术设计出光滑时变的控制器 .该方法设计简单且保证闭环系统状态是指数收敛的 .

摘要：提出了一种新型的模糊自适应控制器 .其中系统的未知函数由线性T S模糊系统估计 .模糊规则的后件是线性可调的 .因线性T S模糊系统较之Mamdani模糊系统具有更好的估计性能 ,我们可以获得更小的跟踪误差 .由于采用李亚普诺夫合成方法来设计控制器 ,整个闭环系统全局稳定 ,所有的信号有界 .