基于LMI全方位移动机器人H_∞鲁棒控制

针对机器人控制领域中一类多输入多输出(MIMO)高阶线性时不变系统,根据模型自身的结构特点,给出了基于线性矩阵不等式(LMI)的通过局部反馈H∞控制实现整个系统对不确定扰动具有鲁棒性的充分条件及相关推论,并在此基础上提出了一种解决该类型系统H∞控制问题的新算法。通过对一完整约束移动机器人系统的局部输出反馈H∞控制仿真,说明了此算法具有良好的控制效果和实用性。

三峡库区堆积层斜坡稳定性分级与应用研究

Considering the lacking of standard for the classification of Accumulative slopes so far, research working was conducted based on the results of geological investigation, data analysis and experiment carried out in Wanzhou. By mean of statistical method and grey system, the author studied in detail inflationary factors to Accumulative slopes. In order to study the mechanism of Rock-Soil Aggregate (RSA), numerical testing method was used. Coordinates in the two and three dimensional space and its corresponding rock fragments in the sample were generated randomly by VB and Particle flow code. After being built the models of RSA with different rock content, uniaxial and triaxial numerical simulation tests were carried out respectively. In order to study the effect of rainfall in Accumulative slopes, in situ infiltration testing had been conducted on site in Wanzhou, Three Gorges Area. Relationship between the infiltration rate and amount of precipitation has been obtained. Eleven factors are considered in the classification of Accumulative slopes in this paper.(1)On the basis of four basic factors and four inducing factors, sum-and-difference method for the classification system has been built. (2)After weight of factors being determined by analytic hierarchy process and membership function of Accumulative slopes stability being built in virtue of fuzzy mathematics, AHP-FM model of Accumulative slopes stability has been completed. In the end of this paper, having been applied on stability of Accumulative slopes in Three Gorge area and compared with result by limit equilibrium, classification system has good effect.