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32nd Chinese Control Conference (CCC)

作者： Yang Wei Jun Guo Xiao Song Xu Zhe Xian Res Inst Hitech Xian 710025 Peoples R China

ISBN: (纸本)9781479900305

For solving the problem of network induced delay and the measuring difficulty of control state monitoring in Networked Control Systems, a discrete fuzzy sliding mode oberserver(DFSMO) is designed in the paper. DFSMO is robust despite the presence of bounded uncertainties. discrete time sliding mode controller base of the DFSMO is designed for a type of NCS. The simulation results show that the method is effective.

关键词： discrete variable structure Network Control Systems discrete Fuzzy Sliding Mode Oberserver

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Review of algorithms of structural optimization with discrete variables

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WORLD JOURNAL OF ENGINEERING 2011年第3期8卷 231-235页

作者： Li, Yancang Heng, Beibei Kong, Lingren Yang, Weijuan Hebei Univ Engn Coll Civil Engn Handan 056038 Peoples R China

Much work has been done on the optimization of the discrete variable structure design. In order to handle the optimization problem effectively, the related theories, methods, and other beneficial results were summarized. On the basis of analyzing the predecessors' research, the development direction was introduced. Then, some practical methods, including their improvements, for discrete structural optimization were analyzed. Finally, the Ant Colony Optimization algorithms were shown as promising methods. This work has significance in theory and practice for the development of structural optimization.

关键词： discrete variable structure Optimization Review Ant colony algorithms

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Design of discrete Time Sliding Mode Observer in Networked Control System

Design of Discrete Time Sliding Mode Observer in Networked C...

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22nd Chinese Control and Decision Conference

作者： Yang, Weijun Fan, Li Luo, Jijun Xian Res Inst Hitech Xian 710025 Peoples R China

ISBN: (纸本)9781424451821

For solving the problem of network induced delay and the measuring difficulty of control state monitoring in Networked Control Systems(NCS), a discrete sliding mode observer (DSMO) is designed in this paper. DSMO is robust despite the presence of bounded uncertainties. discrete time sliding mode controller base of the DSMO is designed for a type of NCS The simulation results show that the method is effective for time delay and disturbance.

关键词： discrete variable structure Network Control Systems discrete Sliding Mode Oberserver

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Design of discrete Time Sliding Mode Observer in Networked Control System

Design of Discrete Time Sliding Mode Observer in Networked C...

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The 22nd China Control and Decision Conference(2010年中国控制与决策会议)

作者： Weijun Yang Li Fan Jijun Luo Xi’an Research Inst. of Hi-Tech Xi’an 710025 China

For solving the problem of network induced delay and the measuring difficulty of control state monitoring in Networked Control Systems(NCS), a discrete sliding mode observer (DSMO) is designed in this paper. DSMO is robust despite the presence of bounded uncertainties. discrete time sliding mode controller base of the DSMO is designed for a type of NCS .The simulation results show that the method is effective for time delay and disturbance.

关键词： discrete variable structure Network Control Systems discrete Sliding Mode Oberserver

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Design of discrete Time Sliding Mode Observer in Networked Control System

Design of Discrete Time Sliding Mode Observer in Networked C...

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2010 Chinese Control and Decision Conference

作者： Weijun Yang,Li Fan,Jijun Luo Xi'an Research Inst.of Hi-Tech,Xi'an,710025,China

For solving the problem of network induced delay and the measuring difficulty of control state monitoring in Networked Control Systems(NCS),a discrete sliding mode observer(DSMO) is designed in this *** is robust despite the presence of bounded *** time sliding mode controller base of the DSMO is designed for a type of *** simulation results show that the method is effective for time delay and disturbance.

关键词： discrete variable structure Network Control Systems discrete Sliding Mode Oberserver

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A neural network tracking controller for robot manipulators with unknown dynamics

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IFAC Proceedings Volumes 1999年第2期32卷 719-724页

作者： Fuchun Sun Zengqi Sun Chundi Mu Rongjun Zhang Department of Computer Sci. State Key Lab of Intelligent Tech. & Systems Tsinghua University Beijing 100084 P.R.China Department of Automation Tsinghua University Beijing 100084 P.R.China Department of Electrical Engineering Purdue University at Indianapolis Indianapolis IN 46202-5132 U.S.A.

A neural network (NN)-based adaptive control law is proposed for the tracking control of an n-link robot manipulator with unknown dynamic nonlinearities. Basis function-like networks are employed to approximate the plant nonlinearities, and the bound on the NN reconstruction error is assumed to be unknown. The proposed NN-based adaptive control approach integrates the NN approach and an adaptive discrete variable structure control with a simple estimation mechanism for the upper bound on the NN reconstruction errors, and additional control input as a function of the estimate. Lyapunov stability theory is used to prove the uniform ultimate boundedness of the tracking error.

关键词： robot adaptive control neural networks stability discrete variable structure

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Stable sampled-data adaptive control of robot arms using neural networks

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 1997年第2-4期20卷 131-155页

作者： Sun, FC Sun, ZQ Tsinghua Univ Dept Comp Sci & Technol Natl Lab Intelligence Technol & Syst Beijing 100084 Peoples R China

Stable neural network-based sampled-data indirect and direct adaptive control approaches, which are the integration of a neural network (NN) approach and the adaptive implementation of the discrete variable structure control, are developed in this paper for the trajectory tracking control of a robot arm with unknown nonlinear dynamics. The robot arm is assumed to have an upper and lower bound of its inertia matrix norm and its states are available for measurement. The discrete variable structure control serves two purposes, i.e., one is to force the system states to be within the state region in which neural networks are used when the system goes out of neural control;and the other is to improve the tracking performance within the NN approximation region. Main theory results for designing stable neural network-based sampled data indirect and direct adaptive controllers are given, and the extension of the proposed control approaches to the composite adaptive control of a flexible-link robot is discussed. Finally, the effectiveness of the proposed control approaches is illustrated through simulation studies.

关键词： robot adaptive control basis function-like networks stability discrete variable structure

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