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Asian Control Conference

作者： Fu-Chun Sun Zeng-Qi Sun Dept. of Computer Science and Technology State Key Lab of Intelligent Technology & Systems Beijing P.R. China Dept. of Comput. Sci. & Technol. State Key Lab. of Intelligent Technol. & Syst. Beijing China

ISBN: (纸本)0780388739

A stable adaptive controller design approach via neuro-fuzzy (NF) dynamic inversion is developed for the trajectory tracking of the robotic manipulator which can be identified in the Takagi-Sugeno (T-S) fuzzy framework with both structure and parameters identified through input/output (I/O) data from the robot control process. The dynamic NF (DNF) system aims to approximate the whole robot dynamics rather than its nonlinear components as is done by static neural networks (NNs). The dynamic inversion introduced for the controller design is constructed by the DNF system and will help the NF controller design because it does not require the assumption that the robot states should be on a compact set. The system stability and the convergence of tracking errors are guaranteed by Lyapunov stability theory, and the learning algorithm for the DNF system is obtained thereby. Finally, simulation studies are carried out to show the viability and effectiveness of the proposed control approach.

关键词： Manipulator dynamics Programmable control Adaptive control Robot control Noise measurement Nonlinear dynamical systems Control systems Trajectory Takagi-Sugeno model Fuzzy control

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Output tracking of an unmanned tandem helicopter based on dynamic extension method

Output tracking of an unmanned tandem helicopter based on dy...

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WCICA 2004 - Fifth World Congress on intelligent Control and Automation, Conference Proceedings

作者： Hu, Chunhua Zhu, Jihong Hu, Jinchun Sun, Zengqi State Key Lab. Intelligent T./S. Dept. of Comp. Sci. and Technology Tsinghua University Beijing 100084

We consider the problem of tracking the output of an unmanned tandem helicopter. We investigate the dynamic model and analyze the exact linearization first. We present approximate linearization to design the controlle... 详细信息

关键词： Helicopters

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Pseudo control compensation based neural network dynamic inversion super maneuverable flight control

Pseudo control compensation based neural network dynamic inv...

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World Congress on intelligent Control and Automation (WCICA)

作者： Jiaqiang Zhu Suofeng Guo Jihong Zhu State Key Lab. of Intelligent Technol. & Syst. Tsinghua Univ. Beijing China College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing China The State Key Laboratory of Intelligent Technology and Systems Tsinghua University Beijing China

ISBN: (纸本)0780382730

Pseudo control compensation based neural network dynamic inversion control is applied in super-maneuverable flight control. The base control law is designed in nonlinear dynamic inversion; neural networks are used to adaptively cancel inversion error. Pseudo control compensator is designed to cancel the interaction between actuator and adaptive neural networks. Simulations show that limitation that needs accurate mathematical model in dynamic inversion method can be released. The actuator that affects the adaptive factor is removed in this control structure and the robustness of the whole system is greatly improved.

关键词： Neural networks Aerospace control Actuators Programmable control Adaptive control Error correction Adaptive systems Mathematical model Nonlinear dynamical systems Control systems

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Synthesis of H/sub 2/ guaranteed cost fuzzy controller for missile altitude system via linear matrix inequalities

Synthesis of H/sub 2/ guaranteed cost fuzzy controller for m...

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IEEE International Conference on systems, Man and Cybernetics

作者： Xiao-Hu Yuan Jian-Cun Ren You-Jin He Fu-Chun Sun Dept. of Control Engineering Naval Aeronautical Engineering Academy Yantai Shandong province China State Key Lab. of Intelligent Technology and Systems Tsinghua University Beijing China

ISBN: (纸本)0780385675

This paper deals with H/sub 2/ guaranteed cost (GC) fuzzy output feedback control problem for missile altitude control system. First, the Takagi-Sugeno fuzzy model is employed to represent the dynamics of the missile altitude control system. Next, we present necessary and sufficient conditions for the existence of a quadratically stabilizing fuzzy output feedback controller which also assure H/sub 2/ guaranteed cost performance on a fuzzy dynamic system where the uncertainty is of the norm bounded type. The conditions are presented as a collection of linear matrix inequalities. A simulation on the missile altitude system is given to illustrate the effectiveness of the proposed design method.

关键词： Fuzzy control Fuzzy systems Control systems Missiles Control system synthesis Costs Output feedback Takagi-Sugeno model Sufficient conditions Uncertainty

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Temperature rise in low-k ULSI interconnects

Temperature rise in low-k ULSI interconnects

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2004 7th International Conference on Solid-state and Integrated Circuits technology Proceedings, ICSICT 2004

作者： Zhou, Jia Ruan, Gang Xiao, Xia Huang, Yiping Lee, H.-D. Department of Microelectronics System State Key Lab. Fudan University 220 Handan Road Shanghai 200433 China Department of Electronics Science and Technology of Information Tianjin University 92 Weijin Road Tianjin 300072 China Department of Electronics Engineering Chungnam National University 220 Gung-Dong Yusung-Gu Taejeon 305-764 Korea Republic of

In this paper, analysis to the temperature rise in three ULSI interconnect structures of 50nm node technology have been carried out by using the compact quasi-analytic model we developed. Although the error in analyzing structure I is increased to 7.7%, the results still mean much for temperature rise prediction in interconnect design. Thick interlayer is the main causes to make the heat transfer conditions of interconnect severely rugged. The investigation to the thermal conductivity of the interlayer reveals that temperature rise decays in two order exponential way and when k<0.1 w/°Cm, the temperature rise increases extremely fast. New dielectric materials with low k but relatively less porous are desired in the interconnect structure for future 45nm node technology and beyond. ©2004 IEEE.

关键词： ULSI circuits

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Morphological characterization of Cu-W thin films based on wavelet transform

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Zhenkong Kexue yu Jishu Xuebao/Vacuum Science and technology 2004年第SUPPL.期24卷 14-16+37页

作者： Wang, Yuan Bai, Xuanyu Xu, Kewei Fan, Duowang State-Key Laboratory for Mechanical Behavior of Materials Xi'an Jiaotong University Xi'an 710049 China Department of Mechanical Engineering Lanzhou Railway Institute Lanzhou 730070 China Lab. of Opto-Electronic Technology and Intelligent Control Lanzhou Jiaotong University Lanzhou 730070 China

The evolution of surface morphology of Cu-W thin films with deposition time on silicon wafers was studied by discrete wavelet transform (DWT). A strategy based on wavelet transform to describe surface morphology of thin films was presented. The results showed that the surface morphology of thin films was unstable until the sputtering time exceeds 10 min. The surface morphology variations of different thin films could be distinguished primarily by high frequency signals.

关键词： Thin films

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An abstract method for extracting goal orderings

An abstract method for extracting goal orderings

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WCICA 2004 - Fifth World Congress on intelligent Control and Automation, Conference Proceedings

作者： Li, Ying Jin, Zhi Key Lab. of Intelligent Info. Proc. Institute of Computing Technology Chinese Academy of Sciences Beijing 100080 Graduate School Chinese Academy of Sciences Beijing Institute of Mathematics Acad. of Math. and System Sciences Chinese Academy of Sciences Beijing

ISBN: (纸本)0780382730

Extracting and using goal orderings is a way to improve efficiencies of planning algorithms. During extracting goal orderings, some of existing methods can only deal with atomic goals of a specific problem that will introduce too much redundant work, and the others deal with predicates of a planning domain that can not extract enough goal orderings. The paper addressed an abstract method to extract goal orderings. The method used unification to identify different instantiations of a predicate when dealing with predicates. It can not only reduce redundant work during extracting, but also get enough goal orderings.

关键词： Mathematical techniques

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Resistivity of Cu-Zr/ZrN diffusion barrier films

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Zhenkong Kexue yu Jishu Xuebao/Vacuum Science and technology 2004年第SUPPL.期24卷 50-53页

作者： Bai, Xuanyu Wang, Yuan Xu, Kewei Fan, Duowang State-Key Laboratory for Mechanical Behavior of Materials Xi'an Jiaotong University Xi'an 710049 China Key Lab. of Opto-Electronic Technology and Intelligent Control Lanzhou University Lanzhou 730070 China

Cu-Zr/ZrN films were grown on Si(111) wafer by magnetron sputtering. The films were characterized with X-ray diffraction (XRD) and scanning electron microscopy (SEM). Its resistivity was studied from application considerations. We conclude that when the film is used as a diffusion barrier, many features, including low contact resistivity, well defined interface and good thermal stability, should be considered in film growth.

关键词： Amorphous films

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Influence of copper sputtering on thermal stability of ZrN diffusion barrier

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Zhenkong Kexue yu Jishu Xuebao/Vacuum Science and technology 2004年第SUPPL.期24卷 86-88页

作者： Song, Zhongxiao Xu, Kewei Fan, Duowang Key Lab. for Physical Electronics and Devices Xi'an Jiaotong University Xi'an 710049 China State Key Laboratory for Mechanical Behavior of Materials Xi'an Jiaotong University Xi'an 710049 China Key Laboratory of Opto-Electronic Technology and Intelligent Control Lanzhou Jiaotong University Lanzhou 730070 China

Copper film was grown by DC pulsed unbalance magnetron sputtering (UBMS) on ZrN diffusion barrier film, previously deposited by RF reactive magnetron sputtering on Si wafer surface. The Cu films were then characterized with X-ray diffraction (XRD), Auger electron spectroscopy (AES) and atomic force microscopy (AFM). The results show that UBMS-Cu film effectively restricts Cu diffusion into silicon and improves thermal stability of Cu/ZrN/Si system because of the high compactness of the Cu/ZrN layers.

关键词： Thin films

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Effect of diffusion barriers and ion beam bombarding energy on the adhesion strength of Cu-Cr alloy films

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Zhenkong Kexue yu Jishu Xuebao/Vacuum Science and technology 2004年第SUPPL.期24卷 4-6页

作者： Song, Zhongxiao Ju, Xinhua Xu, Kewei Fan, Duowang Key Lab. for Physical Electronics and Devices Xi'an Jiaotong University Xi'an 710049 China State Key Laboratory for Mechanical Behavior of Materials Xi'an Jiaotong University Xi'an 110049 China Key Laboratory of Opto-Electronic Technology and Intelligent Control Lanzhou Jiaotong University Lanzhou 730070 China

Cu-Cr alloy films were deposited on different diffusion barrier layers with ion beam auxiliary co-sputtering that combined magnetron sputtering (MS) and ion beam sputtering (IBS). The rolling contact fatigue test was used to evaluate the adhesion strength. We found that the diffusion barriers could improve the adhesion strength at the interface. When the CrN acted as diffusion barrier the adhesion strength was highest. The Cu-Cr alloy film with high bombarding energy had higher adhesion strength for the reason that the transition zone was wider.

关键词： Bond strength (materials)

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