摘要：Learning control for gradually varying references in iteration domain was considered in this research,and a composite iterative learning control strategy was proposed to enable a plant to track unknown iteration-dependent ***,by decoupling the current reference into the desired trajectory of the last trial and a disturbance signal with small magnitude,the learning and feedback parts were designed respectively to ensure fine tracking *** some theoretical analysis,the judging condition on whether the composite iterative learning control approach achieves better control results than pure feedback control was obtained for varying *** convergence property of the closed-loop system was rigorously studied and the saturation problem was also addressed in the *** designed composite iterative learning control strategy is successfully employed in an atomic force microscope system,with both simulation and experimental results clearly demonstrating its superior performance.

摘要：作为计划方法的一条古典本地路径，因为它的简洁和优雅，潜在的地方法(PFM ) 在机器人学地里广泛地被使用。然而，当产生一条路径让一个机器人列在后面时，这个方法的一个主要缺点是本地最小的存在。在这份报纸，我们在场由使用 PFM 方法在看法(FOV ) 的照相机地以内保留特征为视觉伺服计划途径的一条路径。严密分析然后被介绍证明计划方法的构造路径的全球稳定性。而且，怎么获得的问题一更好三维(3D ) 照相机路径也广泛地被学习。模拟结果被提供验证建议路径规划者的表演。

摘要：在这份报纸，切换基于逻辑的适应柔韧的控制为一个类被建议非线性地 parameterized 系统(NFS ) 。明确地，控制器主要由一项柔韧的类型条款组成探讨系统无常，和切换逻辑调节机制更新深奥控制获得。构造控制器完成全球一致地最终的固定(GUUB ) 系统错误的结果，和模拟结果被包括表明控制法律的有效性。

摘要：An analytic inverse kinematic solution is presented for a 7-DOF(degree of freedom)redundant space *** proposed method can obtain all the feasible solutions in the global joint space,which are denoted by a joint angle ***,both the singularity problem and the joint limits are considered in ***,an optimization approach is provided to get one near optimal inverse kinematic solution from all the feasible *** proposed method can reduce effectively the computational complexity,so that it can be applied ***,the method’s validity is shown by kinematic simulations.

摘要：In this paper,a method with an eye-in-hand configuration is developed to hit targets during visual tracking for the TLS(Tele-Light Saber) *** is not necessary to calibrate camera parameters and predict the trajectory of the moving ***,the expression of the image Jacobian matrix for the eye-in-hand configuration is proposed,and then an update law is designed to estimate the image Jacobian ***,a control scheme is presented and the Lyapunov method is employed to prove asymptotic convergence of image *** assumption for the moving objects is ***,both simulation and experimental results are shown to support the approach in this paper.

摘要：A framework is presented for robustly estimating the location of a mobile robot in urban areas based on images extracted from a monocular onboard camera, given a 2D map with building outlines with neither 3D geometric information nor appearance data. The proposed method firstly reconstructs a set of vertical planes by sampling and clustering vertical lines from the image with random sample consensus (RANSAC), using the derived 1D homographies to inform the planar model. Then, an optimal autonomous localization algorithm based on the 2D building boundary map is proposed. The physical experiments are carried out to validate the robustness and accuracy of our localization approach.