Research on Robust Control of Switched Systems

在现代科学技术的众多领域中，自动控制技术起着越来越重要的作用。它已经广泛应用于制造业、交通、航空航天以及农业等部门，为人类文明进步做出了重大的贡献。在实际应用中，很多系统可以使用切换系统来描述。近年来，随着切换系统理论的提出，切换系统的研究引起了广泛的关注。由于切换系统具有的特殊性质，对它的研究具有一定的困难性和复杂性。整个切换系统的稳定性不仅跟子系统有关系，而且跟系统的切换策略有重要关系。在实际系统当中，不确定因素是普遍存在的。因此对不确定切换系统的鲁棒控制研究非常有必要。本文研究了几类不确定切换系统的鲁棒控制问题，主要内容归纳如下：首先对一类不确定线性切换系统的鲁棒镇定问题进行了研究。该切...The technology of automatic control is more and more important in many fields of modern science and technology. It has been widely used in many departments, such as manufacturing, transportation, aeronautics and space, agriculture and so on. It contributed much effect to world civilization. In actual applications, switched systems can be used to describe many systems. In recent years, with the the...学位：工学硕士院系专业：信息科学与技术学院自动化系_控制理论与控制工程学号：20043100

Ship formation control via output feedback with unknown dynamics

研究了仅利用相对位置信息和相对航向信息的船舶编队输出反馈控制问题.首先使用leader-follower策略,建立了船舶编队的运动学模型.然后应; 用微分同胚变换将系统解耦成3个子系统.根据船舶低频运动的特点,在跟随船水动力学模型中粘性水动力和力矩未知以及所有船舶速度都不可测量的假定下,提出; 了一种高增益广义比例积分观测器来估计这些未知和不可测量动态.在高增益广义比例积分观测器的基础上,分别设计了线性输出反馈控制器和输入饱和受限的输出; 反馈控制器,并分析了闭环系统的稳定性.最后仿真结果表明了方法的有效性.This paper focuses on the ship formation control problem via output; feedback, with only the information of the relative positions and; relative heading angles available. Firstly, the kinematic model of the; ship formation is established using the leader-follower strategy. Then; the system is decoupled into three subsystems via the diffeomorphism; transformation. According to the low frequency characteristics of the; ship motion, and the assumption that the viscous hydrodynamic forces and; moments in the hydrodynamic models of the follower ships are unknown and; the velocities of all the ships are unmeasurable, the high-gain; generalized proportion-integral observers are proposed to estimate the; unknown and unmeasurable dynamics. On the basis of the high-gain; generalized proportion-integral observers, the linear output feedback; controllers and the output feedback controllers with input saturation; are designed respectively, and the stability of the closed-loop systems; is analyzed. Finally, the simulation results show the effectiveness of; the proposed approach.国家自然科学基金项目; 福建省自然科学基金项

Robust stabilization for a class of linear switched systems with uncertainties and neutral time-delays

研究了一类具有不确定性并带有中立型时滞的线性切换系统的鲁棒镇定问题.该系统不仅系统状态矩阵包含有不确定性,而且在时滞状态矩阵中包含有不确定性.研究的主要方法是利用Lyapunov稳定性理论和线性矩阵不等式理论,设计了线性有记忆状态反馈控制器和线性无记忆状态反馈控制器以及切换策略,使得系统在一定的切换策略下经状态反馈鲁棒镇定.Robust stabilization for a class of switched systems with uncertainties and neutral time-delays is considered.The systems contain uncertainties not only in the state matrices,but also in the time-delay matrices.Based on Lyapunov theory and linear matrix inequalities,the robust state-feedback memory controllers and memoryless controllers are designed respectively.With the given switching laws,the controllers can guarantee that the states of systems are robust stable.福建省青年科技人才创新资助项目(2005J006);; 厦门大学985二期信息创新平台资助项

多艘拖轮协助大型船舶靠泊的编队控制方法

为了研究多艘拖轮协助欠驱动大型船舶靠泊的控制,提出了一种采用拖轮编队来解决大型船舶靠泊问题的控制方法.在拖轮的水动力学模型中,将大型船舶对拖轮的反作用力视为未知输入,给出了一种干扰估计误差方程和原状态方程形成互联系统的干扰观测器.该干扰观测器使得拖轮速度实际值与期望值误差能够快速收敛.在干扰观测器的基础上给出了拖轮编队控制器设计,并分析了闭环系统的稳定性.仿真结果验证了该方法的有效性.国家自然科学基金(61374037

An Attribute Reduction Method Based on Rough Sets for Dominating Sets of Graph

探讨粗糙集的属性约简和图的支配集问题之间的联系.通过构造信息系统,将粗糙集的属性约简问题与图的支配集问题相联系,从而把图的支配集问题转化为粗糙集的属性约简问题.首先证明图的极小支配集恰是其构造的信息系统的属性约简,然后提出一种基于信息熵的最小支配集算法,最后通过实例验证该算法的可行性和有效性.The relationship between attribute reduction problem in rough sets and dominating set problem in graph is discussed.By constructing an information system,the attribute reduction problem in rough sets is associated with the dominating set problem in graph,so as to transformed the dominating set problem into the attribute reduction problem.Firstly,it is proved that the minimal dominating set of a graph is exactly the attribute reduction of the constructed information system.Then,a minimum dominating set algorithm based on information entropy is proposed.Finally,A practical example illustrates the feasibility and efficiency of the proposed algorithm.国家自然科学基金项目(No.61379021;11301367;11061004)资

颅痛煎对偏头痛患者超敏C反应蛋白影响及疗效观察

目的探讨超敏C反应蛋白(hs-CRP)的变化与偏头痛发病机制的关系,观察颅痛煎治疗偏头痛疗效及对hs-CRP的影响。方法选取65例偏头痛患者和30例健康人进行检测hs-CRP,再将65例病人随机分为颅痛煎汤治疗组(简称颅头煎组)32例,给予颅痛煎,一日一剂,水煎分2次服;西比灵对照组(简称西比灵组)33例,给于西比灵5mg,一天1次,谷维素20mg,一天3次。共治疗28天后。观察两组患者的治疗前后疼痛程度、持续时间、发作频度及检测hs-CRP,计算其头痛指数和头痛疗效。结果偏头痛组hs-CRP含量明显高于正常对照组(P<0.01),治疗后颅痛煎组的hs-CRP水平明显低于西比林组(P<0.05),颅痛煎组的临床基本恢复、总有效率、头痛指数明显好于西比灵组(P<0.01、<0.05)。结论 hs-CRP的增高与偏头痛的发生有关,颅痛煎治疗偏头痛疗效明显优于西比灵,可能与颅痛煎降低偏头痛患者的hs-CRP有关

浦城县大口窑调查勘探报告

浦城县大口窑是宋元时期闽北地区一处著名的窑场,以烧造青白瓷为主,此外还兼烧部分酱釉瓷、少量绿釉瓷等。器型种类丰富,质量较高,窑业技术与江西景德镇窑关系密切。其产品在东亚、东南亚等地有发现,是福建一处重要的外销瓷生产地

2018年安溪珠塔内窑调查报告

2018年5月至7月,厦门大学历史系考古专业、福建博物院文物考古研究所及安溪县博物馆等单位联合组成\"安溪古窑址调查队\",对安溪珠塔内窑进行了全面的调查,基本了解珠塔内窑古窑址分布与保存情况,采集了一批明末清初的青花瓷器、白瓷与窑具标本,并发现部分窑炉遗迹,为研究闽南地区青花瓷窑业发展提供了第一手资料

小五台山自然保护区褐马鸡种群分布研究

1995-1998年,我们对小五台山自然保护区褐马鸡种群生态生物学习性进行了较系统研究,特别是在1995年10月-1996年6月通过基本路线法对该区内褐马鸡种群数量进行了调查,基本掌握了褐马鸡在小五台山自然保护区内的分布。提出了今后小五台山自然保护区在褐马鸡保护方面要防止种群岛屿化现象出现,加强物种交流,建立生物廊道,人为控制天敌数量等具体措施

The Analysis Using Matlab on Robust Performance for Uncertain Switched Systems with Time-delay

研究了一类不确定线性时滞切换系统的鲁棒性能。系统不仅状态矩阵带有参数不确定性,而且状态时滞矩阵也带有参数不确定性。根据李亚普诺夫稳定性理论,利用线性矩阵不等式和凸组合条件,给出了该切换系统渐近稳定的充分条件和性能指标,并给出了切换律。最后使用MATLAB的仿真结果表明此方法的正确有效性。The problem of robust performance for a class of uncertain switched systems with time-delay is considered.The systems contain uncertainties not only in the state matrix,but also in state time-delay matrix.Basing on Lyapunov stability theory,a sufficient condition that makes the switched systems asymptotically stable and satisfies the certain performance index is derived by the method of LMI and the condition of convex combination.The switching strategy is also designed.The simulation using matlab shows the validity of the result