摘要：This paper presents a new stabilizing control law for a planar vertical take-off and landing *** model is first transformed into an equivalent form,and then a control law consisting of a linear term and a saturated term is given for a related subsystem,with the saturation levels being assigned as large as *** to the existing saturation scheme in which all states are restricted by saturations,the design brings about a relatively fast *** effectiveness and advantage of the design are validated by numerical simulations.

摘要：A nonmetal transportation port with soft soil foundation of Tianjin New Harbor failed during construction in 1997. The soil properties and geological changes before and after landslide were in- vestigated by in situ test means. The stability of the slope was estimated with several calculation methods, such as the simplified Bishop method and the non-circle analysis method. According to the investigation and analysis results, the factors that may cause the slope failure can be deter- mined as follows: excessive excavating, violating the normal construction procedure, excessive pore water pressure during earlier piling and sudden water-level fluctuation in front of the slope. Measures to improve the soil foundation for reconstructing the port include strengthening the failed slope with vibro sand piles, filling up the crushed stone layer, dividing the excavation into four steps and driving piles by larger intervals. The port now has been successfully reconstructed and begun operation.

摘要：This paper deals with the stabilization of dynamic systems for two omni directional mobile robots by using the inner product of two vectors, one is from a robot's position to another's, the other is from a robot's target point to another's. The multi step control laws given can exponentially stabilize the dynamic system and make the distance between two robots be greater than or equal to the collision free safe distance. The application of it to two omni directional mobile robots is described. Simulation result shows that the proposed controller is effective. 

摘要：In this paper,by combining a second-order sliding mode(SOSM)algorithm with the saturation technique,a novel SOSM control scheme has been *** feature of the proposed SOSM controller lies that there is a saturation function imposed on the sliding variable,which could significantly enlarge the domain of attraction for the closed-loop *** geometric method has been utilized to prove that all the sliding variables will be steered to the origin in a finite ***,the relation between the control parameters and the shape of the phase trajectory has also been ***,the proposed method has been applied to the tracking control problem for a robotic manipulator.

摘要：This paper focuses on the problem of stability analysis and controller design for a class of delay systems based on networked control systems. By introducing some free matrix variables, some criteria for stability analysis and observer-based control law design can be obtained by the solving of linear matrix inequalities. A numerical example is also offered to prove the effectiveness of the proposed method.

摘要：On the basis of controlled Lagrangians,a controller design is proposed for underactuated mechanical systems with two degrees of freedom.A new kinetic energy equation(K-equation)independent of the gyroscopic forces is found due to the use of their *** a result,the necessary and sufficient matching condition comprises the new K-equation and the potential energy equation(P-equation)cascaded,the regular condition,and the explicit gyroscopic ***,for two classes of input decoupled systems that cover the main benchmark examples,the new K-equation,respectively,degenerates from a quasilinear partial differential equation(PDE)into an ordinary differential equation(ODE)under some choice and into a homogeneous linear PDE with two kinds of explicit general *** from one of the general solutions,the obtained smooth state feedback controller for the Acrobots is of a more general ***,a constant fixed in a related paper by the system parameters is converted into a controller parameter ranging over an open interval along with some new nonlinear terms *** what is mentioned in the related paper,some categories of the Acrobots cannot be stabilized with the existing interconnection and damping assignment passivity based control(IDA-PBC)*** a contribution,the system can be locally asymptotically stabilized by the selection of the new controller parameter except for only one special case.

摘要：Y2002-63520-249 0324061H_∞强稳定性=H_∞ strong stabilization[会,英]/Campos-Delgado,D.U.& Zhou,K.//Proceedings of the 40thIEEE Conference on Decision and Control,Vol.1 of5.—249～254(HE)Y2002-63520-261 0324062解 H_∞范数最小化问题的快速算法=Fast algorithmsfor solving H_∞-norm minimization problems[会,英]/Varga,A.& Parrilo,P.//Proceeding of the 40thIEEE Conference on Decision and ***.1

摘要：Y2002-63332-1663 0311028通过延伸到同时稳定性的低阶控制器的区域性极点布局=Regional pole placement via low-order controllerswith extensions to simultaneous stabilization[会,英]/Wang,S.& Chow,J.H.//Proceedings of the 2001American Control Conference Vol.2 of 6.—1663～1668(HE)Y2002-63332-1669 0311029固有结构分配的状态输出反馈控制的设计算法=Adesign algorithm of static output feedback control foreigenstructure assignment[会,英]/Tsui,C.-C.//Pro-

摘要：The robust stabilizating control problem for a class of uncertain nonlinear large-scale systems is discussed. Based on the theory of both input/output (I/O) linearization and decentralized variable structure control (VSC),two-level and decentralized variable structure control laws for this kind of systems are presented respectively,which achieve asymptotically stabilization despite the uncertainties and disturbances. At last,sirnulation of the disturbed two-pendulum system is given to illustrate the feasibility of proposed technique.