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Nonlinear Adaptive Switching Control Method Based on Unmodeled Dynamics Compensation
基于未建模动态补偿的非线性自适应切换控制方法

CHAI Tian-You,ZHANG Ya-Jun,
柴天佑
,张亚军

自动化学报 , 2011,
Abstract: This paper presents a nonlinear controller based on unmodeled dynamics compensation for a class of uncertain and discrete-time single-input single-output (SISO) nonlinear systems with unstable zero-dynamics. By combining an adaptive-network-based fuzzy inference system (ANFIS) with "one-to-one mapping", a compensator for unmodeled dynamics is constructed. With the above development, an adaptive switching control method is proposed that consists of a linear adaptive controller, a nonlinear adaptive controller and a switching mechanism. By using switching between the above two controllers, it has been shown that both an improved performance and stability can be achieved simultaneously. The paper assumes the unmodeled dynamics of the systems to satisfy a linear growth condition, which relaxes the widely used global boundedness condition on the unmodeled dynamics. The analysis on stability and convergence of the adaptive control method are established. Finally, through the simulation based comparative study and the experiment of the proposed control on a tank level adaptive control system, the effectiveness of the proposed method is justified.
State-feedback Regulation of Nonlinear Systems with iISS Unmodeled Dynamics
具有iISS未建模动态的非线性系统的状态反馈调节

DUAN Na,XIE Xue-Jun,
段纳
,解学军

自动化学报 , 2010,
Abstract: For a class of nonlinear systems with iISS unmodeled dynamics, this paper investigates the problem of state-feedback regulation. Using the backstepping technique and the properties of iISS, by appropriately choosing the designed functions and update laws of parameters, we give the design procedure of a state-feedback controller. The designed controller guarantees that all the signals of the closed-loop system are bounded, and that the states can be regulated asymptotically to zero. A simulation example demonstrates the effectiveness of the control scheme.
具有输入未建模动态的纯反馈非线性系统自适应控制
Adaptive control of pure-feedback nonlinear systems with input unmodeled dynamics
 [PDF]

张天平,葛继伟,夏晓南
控制理论与应用 , 2017, DOI: 10.7641/CTA.2017.70171
Abstract: 对一类具有状态和输入未建模动态且控制增益符号未知的纯反馈非线性系统, 利用非线性变换、改进的动态面 控制方法以及Nussbaum函数性质, 提出两种自适应动态面控制方案. 利用正则化信号来约束输入未建模动态, 从而有效 地抑制其产生的扰动. 通过引入动态信号, 有效地处理了由状态未建模动态引起的动态不确定性. 通过在总的李雅普诺 夫函数中引入非负正则化信号, 并利用稳定性分析中引入的紧集, 证明了闭环控制系统是半全局一致终结有界的. 数值 仿真验证了所提方案的有效性.
Based on dynamic surface control (DSC) method and using Nussbaum function property, two adaptive DSC schemes are developed for a class of pure-feedback nonlinear systems with state and input unmodeled dynamics as well as unknown control gain sign in this paper. Normalization signal is designed to restrict the input unmodeled dynamics, and the disturbance produced by it is effectively suppressed. Dynamic signal is introduced to deal with the dynamic uncertainty caused by unmodeled dynamics. By adding the normalization signal to the whole Lyapunov function and using the defined compact set in stability analysis, all the signals in the closed-loop system are proved to be semi-globally uniformly ultimately bounded (SGUUB). Numerical simulation verifies the effectiveness of the proposed approach.
Adaptive Control of Scalar Plants in the Presence of Unmodeled Dynamics  [PDF]
Heather S. Hussain,Megumi M. Matsutani,Anuradha M. Annaswamy,Eugene Lavretsky
Mathematics , 2013,
Abstract: Robust adaptive control of scalar plants in the presence of unmodeled dynamics is established in this paper. It is shown that implementation of a projection algorithm with standard adaptive control of a scalar plant ensures global boundedness of the overall adaptive system for a class of unmodeled dynamics.
胆道镜下引流管桥接回置法治疗T管窦道未愈或破裂引起的胆漏  [PDF]
庞勇,张炳印,汤礼军,田伏洲
第三军医大学学报 , 2010,
Abstract: 目的探讨胆道镜下引流管桥接回置法治疗T管窦道未愈或破裂的临床应用价值。方法在胆道镜下寻找到窦道远端残腔,通过导丝回置引流管如同搭桥样将中断的窦道远近端连接起来。结果27例T管窦道未愈或破裂,全部经胆道镜下桥接回置引流管成功,而且25例窦道保存良好,顺利完成后续胆道镜治疗,仅2例窦道封闭。结论胆道镜下引流管桥接回置法治疗T管窦道未愈或破裂安全有效,不仅防止了胆漏,避免了再次开腹,而且保留窦道,延续了胆道镜治疗。?
State-feedback regulation for a class of higher-order nonlinear systems with integral input-to-state stability unmodeled dynamics
一类具有积分输入到状态稳定未建模动态的高阶非线性系统的状态反馈调节

DUAN Na,WANG Lu,ZHAO Cong-ran,
段纳
,王璐,赵丛然

控制理论与应用 , 2011,
Abstract: We investigate the state-feedback regulation for a class of higher-order nonlinear systems with integral inputto-state stability(iISS) unmodeled dynamics. Based on the backstepping design technique and the properties of iISS, the design procedures for a state-feedback controller are developed by appropriately choosing the designed functions and the update laws of parameters. The designed controller guarantees that all the signals in the closed-loop system are bounded, and the states can be regulated asymptotically to zero. A simulation example demonstrates the effectiveness of the control scheme.
许霆案之法学反思  [PDF]
王志亮
湖南工业大学学报(社会科学版) , 2012,
Abstract: “许霆案”是一个由民事行为转化为犯罪行为的典型案件,根据我国现行《刑法》的规定,比之于法院判决“盗窃罪”的定性,其定性为“侵占罪”更为合适。“许霆案”的启示是,刑法既不能冤枉一个无辜者,也不能放纵一个犯罪人;而且,应罪刑相适,罪轻则刑轻,罪重则刑重。这是现代社会刑法理念下普通公民、立法者、司法者应该追求的法律公正。
Bayesian detection of unmodeled bursts of gravitational waves  [PDF]
Antony C. Searle,Patrick J. Sutton,Massimo Tinto
Physics , 2008, DOI: 10.1088/0264-9381/26/15/155017
Abstract: The data analysis problem of coherently searching for unmodeled gravitational-wave bursts in the data generated by a global network of gravitational-wave observatories has been at the center of research for almost two decades. As data from these detectors is starting to be analyzed, a renewed interest in this problem has been sparked. A Bayesian approach to the problem of coherently searching for gravitational wave bursts with a network of ground-based interferometers is here presented. We demonstrate how to systematically incorporate prior information on the burst signal and its source into the analysis. This information may range from the very minimal, such as best-guess durations, bandwidths, or polarization content, to complete prior knowledge of the signal waveforms and the distribution of sources through spacetime. We show that this comprehensive Bayesian formulation contains several previously proposed detection statistics as special limiting cases, and demonstrate that it outperforms them.
从myriad案谈基因专利的正当性及美国对基因专利授权实质性要件分析  [PDF]
曹丽荣
中国生物工程杂志 , 2013,
Abstract: 按照专利制度构建的本质,基因专利的作用在于激励产业创新,促进基因研究的发展。但基因专利从产生以来就一直存在着争议。2011年美国myriad案对分离dna序列的可专利性具有不同的观点,从myriadi案认为分离的dna是不可专利的客体,到myriadii上诉案中联邦巡回上诉法院推翻地方法院的观点,认为分离的dna具有不同的化学结构,满足专利客体的适格性,但同时也反射出了对dna序列可专利性的怀疑。myriad案引起了美国、欧洲和澳大利亚司法审判中就基因专利适格性问题的较大争议。本文结合美国myriad案来分析dna序列作为专利客体的适格性以及目前美国对基因专利授权的实质性条件。
反事故接?  [PDF]
地质与勘探 , 1957,
Abstract: 反事故接?(如?)的用途是在卡?情?下,用以????,而不必使用左?扣??。它的?造(如图)是由接?3及接箍2?者?成,接?的?端分别以外???及岩心管接?相?接;接??接箍?接是用螺距12公厘的方扣;?了防止冲洗液的漏失在接??接箍之?加入密封的?皮?二道(如图中1);?了防止接??接箍的?扣咬合??,它?的外部接??可?照???的原理做成斜面爪形。?保持一定距
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