带不确定动态的欠驱动水面船舶鲁棒自适应路径跟踪控制(英文)

A robust adaptive control strategy was developed to force an underactuated surface vessel to follow a reference path,despite the presence of uncertain parameters and unstructured uncertainties including exogenous disturbances and measurement noise.The reference path can be a curve or a straight line.The proposed controller was designed by using Lyapunov’s direct method and sliding mode control and backstepping techniques.Because the sway axis of the vessel was not directly actuated,two sliding surfaces were introduced,the first one in terms of the surge motion tracking errors and the second one for the yaw motion tracking errors.The adaptive control law guaranteed the uniform ultimate boundedness of the tracking errors.Numerical simulation results were provided to validate the effectiveness of the proposed controller for path following of underactuated surface vessels.     

舰艇作战系统网络的鲁棒性分析

鲁棒性是现代军事网络的一个重要性能指标。采用复杂网络理论,对现代舰艇作战系统网络的鲁棒性进行研究,建立了一般舰艇作战系统网络拓扑图,在此基础上,探讨了舰艇作战系统网络在“随机失败”和“选择性攻击”两种网络损毁方式下的的鲁棒性,提出了一种改善舰艇作战系统网络受到“选择性攻击”时的鲁棒性的方法——“接种”法。     

摆线针轮行星减速器的稳健可靠性优化设计

提出一种可以提高产品可靠性的稳健可靠性优化设计方法.在一般可靠性优化设计的基础之上考虑稳健性的要求,通过可靠度对不确定性参数的敏感度最小达到设计质量稳健性的要求.以此方法建立摆线针轮行星减速器稳健可靠性优化设计模型,并以实例进行优化计算.     

Improving the robustness of an MPC-based obstacle avoidance algorithm to parametric uncertainty using worst-case scenarios

Previous work by the authors focused on obstacle avoidance in large, high-speed autonomous ground vehicles within unknown and unstructured environments. This work resulted in a nonlinear model predictive control based algorithm that simultaneously optimises both the speed and steering commands. The algorithm can exploit the dynamic limits of the vehicle to navigate it to a target position as quickly as possible without compromising safety. In the algorithm, a model of the vehicle is used explicitly to predict and optimise future actions, but in practice the model parameter values are not known exactly. Thus, in this paper, the robustness of the algorithm to parametric uncertainty is evaluated. It is first demonstrated that using nominal parameter values in the algorithm leads to safety issues in 24% of the evaluated scenarios with the considered parametric uncertainty distributions. To improve the algorithm's robustness, a novel double-worst-case formulation is developed that simultaneously accounts for the robust satisfaction of the two safety requirements of high-speed obstacle avoidance: collision-free and no-wheel-lift-off. Results from simulations with stratified random scenarios and worst-case scenarios show that the double-worst-case formulation renders the algorithm robust to all uncertainty realisations tested. The trade-off between robustness and the task completion performance is also quantified.     

绞吸式挖泥船泥浆管道输送系统MFAFC研究

为了得到优于绞吸式挖泥船泥浆流速的常规PID控制策略 ,本文提出了一种新型控制方案——无模型自适应前馈控制：该方案利用无模型自适应控制算法的设计仅仅依赖被控对象的输入输出、动态线性化方法、自身的时变参数并结合前馈控制算法等, 很好地解决了挖泥船泥浆管道输送系统的建模困难、非线性、大惯性、参数时变、强耦合等问题。并将其进行流速跟踪试验,算法通用性试验以及抗干扰实验,结果表明该方案具有较强的跟踪性能和较好的通用性以及鲁棒性等。最后将其与常规PID控制进行比较,得出在泥浆管道输送系统流速控制中,无模型自适应前馈控制具有较好的控制效果。针对绞吸式挖泥船泥浆管道输送系统的流速控制,此控制方案符合实际要求和创新性,并进一步为实物应用研究打下坚定的理论基础。     

一类输入时滞系统的鲁棒预测控制器的设计

针对一类不确定离散输入时滞系统,研究了使得闭环系统稳定,在预测时域内性能指标在线最小化的鲁棒预测控制器的设计问题.将预测时域后的性能指标函数用终端惩罚项近似,将无限时域性能指标函数转换成有限时域性能指标函数;基于滚动优化原理,将预测时域内的控制项用自由项代替,直接求取当前时刻的控制量,扩大可行解的范围,提高控制性能.通过求解线性矩阵不等式方法求解控制器.最后的仿真实例证明了该算法的有效性.     

分数傅立叶变换域的一种鲁棒性图像水印算法

为了进一步提高水印算法的鲁棒性,选取chirp信号作为水印信号,将其嵌入到图像的离散分数傅立叶变换域中.使用分数傅立叶变换阶次和嵌入位置作为算法中的两个密钥,并根据chirp信号在分数傅立叶变换域呈现冲激的特征来检测水印信号.同时还在图像的离散傅立叶变换中频区域嵌入水印模板,有效补偿几何攻击带来的图像损失.仿真实验结果证明,算法具有很好的安全性和不可见性,不仅可以很好的抵抗常用的信号处理操作,对几何攻击也有很好的鲁棒性.     

基于图像连通性的自适应水印同步方案

为提高水印的鲁棒性和安全性,提出了基于图像连通性的自适应水印同步方案.该方案根据图像的连通性得到连通对象,选取较大的连通对象的重心作为水印嵌入的参考点.利用图像的连通性具有拓扑不变性以及图像的重心比较稳定的特性保证水印检测的自适应同步.用作水印嵌入的参考点的高度稳定性,使得该方案不仅对常见图像处理时,而且对全局和局部几何攻击均呈现了较强的鲁棒性.     

Research on the H∞ Controller Synthesis for Maglev Suspension System

The performances of a single-magnet model, which is the simplified model of Maglev suspension, are analyzed. The H∞ controller synthesized for the single-magnet model is presented. The synthesis results show that the control performance and robustness performance are satisfactory and the application of the H∞ controller to Maglev suspension is feasible and effective.     

基于模糊推理的潜艇舱室温度控制研究

针对复杂的具有不确定数学模型的潜艇舱室温度环境，利用模糊推理的设计思想，提出了一种参数自调整双层模糊控制器，用于舱室温度控制，并通过采用确定性模糊调整规则，简化了模糊控制器的设计，具有较强的适应性和鲁棒性。仿真结果表明，该控制器明显地改善了控制系统的性能。