函数光滑性的特征表示及其性质

函数在某点的光滑程度可用其在这点的连续性和各阶导数描述,但更细致的描述是用函数在这点的Ｌｉｐｓｃｈｉｔｚ指数来刻划的;而函数在一个区间上的光滑性则可以用函数的一致连续和导函数来考察,更精确的是用一致Ｌｉｐｓｃｈｉｔｚ指数与考虑。首先,给出了函数在某点的伪导数定义,它能描述函数的光滑性,然后,讨论了它与函数的导数、Ｌｉｐｓｃｈｉｔｚ指数之间的关系,以及一个区间上的伪导函数与函数的一致Ｌｉｐｓｃｈｉｔ     

丁羟平台推进剂研究

论述丁羟平台推进剂研究结果,使用新型燃速添加剂EM_(503)和组合添加剂EMT,可使燃速为7mm/s,5mm/s左右的丁羟推进剂得到良好的平台效应,本文还对平台效应的机理作了简略分析和讨论。     

时滞Hopfield神经网络稳定性测试方法研究

利用Lyapunov泛函方法，研究了具有时滞的Hopfield神经网络稳定性的测试问题，得到了网络全局渐近稳定性与滞量无关的测试方法，这对于时滞神经网络的设计与检验具有普遍应用的意义。     

Lyapunov方法在姿态机动控制律设计中的应用

采用Lyapunov方法设计了独立于模型的标量增益的线性控制律和矩阵增益的非线性控制律,从理论上分析和证明了在该控制律作用下的闭环系统是全局渐进稳定的;在Matlab环境下对不同条件和不同形式的控制律进行了仿真,给出了不同控制律下的控制系统性能指标,仿真结果表明设计的控制律对模型参数摄动和外界干扰具有较好的鲁棒性.     

Kinematics-based four-state trajectory tracking control of a spherical mobile robot driven by a 2-DOF pendulum

Spherical mobile robot has compact structure, remarkable stability, and flexible motion,which make it have many advantages over traditional mobile robots when applied in those unmanned environments, such as outer planets. However, spherical mobile robot is a special highly under-actuated nonholonomic system, which cannot be transformed to the classic chained form. At present, there has not been a kinematics-based trajectory tracking controller which could track both the position states and the attitude states of a spherical mobile robot. In this paper, the four-state(two position states and two attitude states) trajectory tracking control of a type of spherical mobile robot driven by a 2-DOF pendulum was studied. A controller based on the shunting model of neurodynamics and the kinematic model was deduced, and its stability was demonstrated with Lyapunov's direct method. The control priorities of the four states were allocated according to the magnification of each state tracking error in order to firstly ensure the correct tracking of the position states. The outputs(motor speeds) of the controller were regulated according to the maximum speeds and the maximum accelerations of the actuation motors in order to solve the speed jump problem caused by initial state errors, and continuous and bounded outputs were obtained. The effectiveness including the anti-interference ability of the proposed trajectory tracking controller was verified through MATLAB simulations.     

基于脉冲同步的混沌雷达信号延迟方法

提出一种基于脉冲同步技术的混沌雷达信号延迟方法。该方法首先对混沌信号进行滤波；然后对滤波输出进行采样量化，采用数字技术延迟实现量化的信号；最后通过脉冲同步系统来恢复原信号，实现混沌信号的延迟。文章给出了方法的系统实现结构，并发展了一个新的脉冲同步方法。通过计算最大条件Lyapunov指数，研究了滤波器带宽和最小采样频率之间的关系并讨论了采样和量化对系统性能的影响。仿真结果表明本文方法的有效性。     

基于Lyapunov最小-最大方法的卫星编队飞行队形保持

提出一种卫星编队飞行队形保持的鲁棒控制方法.将环境摄动、推力误差等因素作为干扰项加到相对动力学方程中.然后对于该不确定系统,采用Lyapunov最小一最大方法设计相应的控制律,在存在干扰的情况下,采用该控制律仍然能保证系统渐近稳定.同时针对经典的Lyapunov最小一最大方法导致的控制颤振问题,进行了改进,证明了改进后的控制律能够实现系统的一致终极有界,同时消除颤振.通过仿真,验证了采用Lyapunov最小-最大方法在系统存在干扰的情况下,比一般控制方法具有更强的鲁棒性.     

Decentralized attitude synchronization tracking control for multiple spacecraft under directed communication topology

This paper studies the attitude synchronization tracking control of spacecraft formation flying with a directed communication topology and presents three different controllers. By introducing a novel error variable associated with rotation matrix, a decentralized attitude synchronization controller, which could obtain almost global asymptotical stability of the closed-loop system, is developed. Then, considering model uncertainties and unknown external disturbances, we propose a robust adaptive attitude synchronization controller by designing adaptive laws to estimate the unknown parameters. After that, the third controller is proposed by extending this method to the case of time-varying communication delays via Lyapunov–Krasovskii analysis. The distinctive feature of this work is to address attitude coordinated control with model uncertainties, unknown disturbances and time-varying delays in a decentralized framework, with a strongly connected directed information flow. It is shown that tracking and synchronization of an arbitrary desired attitude can be achieved when the stability condition is satisfied. Simulation results are provided to demonstrate the effectiveness of the proposed control schemes.     

Fuzzy adaptive tracking control within the full envelope for an unmanned aerial vehicle

Motivated by the autopilot of an unmanned aerial vehicle（UAV） with a wide flight envelope span experiencing large parametric variations in the presence of uncertainties, a fuzzy adaptive tracking controller（FATC） is proposed. The controller consists of a fuzzy baseline controller and an adaptive increment, and the main highlight is that the fuzzy baseline controller and adaptation laws are both based on the fuzzy multiple Lyapunov function approach, which helps to reduce the conservatism for the large envelope and guarantees satisfactory tracking performances with strong robustness simultaneously within the whole envelope. The constraint condition of the fuzzy baseline controller is provided in the form of linear matrix inequality（LMI）, and it specifies the satisfactory tracking performances in the absence of uncertainties. The adaptive increment ensures the uniformly ultimately bounded（UUB） predication errors to recover satisfactory responses in the presence of uncertainties. Simulation results show that the proposed controller helps to achieve high-accuracy tracking of airspeed and altitude desirable commands with strong robustness to uncertainties throughout the entire flight envelope.     

PR方程推算氮气/灭火剂蒸气等熵指数

氮气(N2)/灭火剂蒸气组成的混合气体的容积等熵指数和温度等熵指数随充填压力和温度的变化关系是影响机载灭火系统灭火剂释放过程的重要因素。基于PR(Peng Robinson)方程和范德瓦尔混合规则,编制了N2/灭火剂混合气体的容积等熵指数和温度等熵指数的计算程序,计算了三组混合气体N2/HFC227ea、N2/CF3I和N2/CF3Br充填压力分别为42MPa和25MPa,初始温度为293K时等熵指数随温度的变化曲线。结果表明:它们的容积等熵指数和温度等熵指数随着温度的升高而逐渐下降,呈近似线性关系。在相同温度下,充填压力为42MPa时的三组混合物的容积等熵指数和温度等熵指数均高于充填压力25MPa时的结果。在相同的充填压力和温度下,N2/CF3I的等熵指数最大,其次为N2/HFC227ea和N2/CF3Br的最小。