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国家自然科学基金(60334030): 作品数：11被引量：37H指数：3; 导出分析报告; 相关作者：李茂青霍伟马保离更多>>; 相关机构：北京航空航天大学更多>>; 相关期刊：《Control Theory and Technology》《自动化学报》《Science China(Physics,Mechanics & Astronomy)》《控制理论与应用》更多>>; 相关主题：控制器设计垂直起降飞机IMPACTBODYTHREE-DIMENSIONAL更多>>; 相关领域：自动化与计算机技术航空宇航科学技术理学更多>>

基于受控拉格朗日函数的垂直起降飞机控制器设计被引量：8: 《控制理论与应用》2010年第6期688-694,共7页李茂青; 国家自然科学基金重点资助项目(60334030);教育部博士点基金资助项目(20050006024); 本文将单欠驱动度力学系统基于受控拉格朗日函数(CL)的控制器设计技术应用到具有输入耦合的垂直起降(PVTOL)飞机的控制问题中.在显式陀螺力的匹配条件下,得到的光滑反馈控制律保证了系统几乎全局渐近稳定.与现有同类方法所得到的结果相...; 关键词：欠驱动力学系统受控拉格朗日函数匹配条件陀螺力垂直起降飞机

基于受控拉格朗日函数的Pendubot镇定控制器设计被引量：2: 《控制与决策》2010年第5期663-668,共6页李茂青; 国家自然科学基金重点项目(60334030);教育部博士点基金项目(20050006024); 基于受控拉格朗日函数,对竖直面内两自由度Pendubot设计镇定控制器.由于该系统的驱动变量是原始动能的循环变量,当受控动能继续保持同一个循环变量时,匹配条件中的动能方程退化为一个常微分方程.由此得到的非线性光滑反馈控制律,可实现...; 关键词：欠驱动力学系统受控拉格朗日函数法匹配条件 PENDUBOT 镇定

Flocking for swarm systems with fixed topology in a changing environment被引量：1: 《控制理论与应用（英文版）》2008年第3期333-339,共7页Zonggang LI Yingmin JIA; the National Natural Science Foundation of China (No.60374001,60334030);the Doctoral Fund of Ministry of Education of China (No.20030006003);the Commission of Science,Technology and Industry for National Defence (No.A2120061303); This paper is mainly devoted to the flocking of a class of swarm with fixed topology in a changing environment. Firstly, the controller for each agent is proposed by employing the error terms between the state of the ...; 关键词：SWARM Multi-agent systems FLOCKING Collective behavior Ultimately bounded analysis

Delay-dependent H2 control for discrete time-delay systems with D-stability constraints被引量：2: 《Progress in Natural Science:Materials International》2008年第3期297-302,共6页Man Sun Yingmin Jia Junping Du Shiying Yuan; supported by National Natural Science Foundation of China(Grant Nos.60774003 and 60334030);the Doctoral Fund of Ministry of Education of China(Grant No.20030006003);the National Key Basic Research Program(973 Program)(Grant No.2005CB321902).; This paper studies the problem of H2 control for a class of discrete time-delay systems with D-stability constraints. The corresponding sufficient conditions are given in terms of linear matrix inequalities. In partic...; 关键词：Discrete systems TIME-DELAY Linear matrix inequality D-STABILITY H2 control

基于无源性的航天器姿态跟踪控制设计被引量：3: 《空间控制技术与应用》2008年第2期3-8,13,共7页霍伟; 国家自然科学基金(60334030);973计划(6137802002);教育部高校博士点基金(20050006024)资助项目; 考虑到机器人和航天器都是非线性力学系统,利用在机器人控制研究中发展起来的基于力学系统无源性的控制设计方法,在统一的理论框架内,根据航天器模型不确定性的不同情况,设计了多种姿态跟踪自适应和变结构控制律,并证明了闭环系统跟踪...; 关键词：姿态控制无源性模型不确定性控制设计稳定性分析

The Property of Dichotomy for a Class of Interconnected Pendulum-like Systems: 《自动化学报》2006年第1期91-95,共5页LI Xin-Bin DUAN Zhi-Sheng NIAN Xiao-Hong DOU Chun-Xia; Supported by National Natural Science Foundation of P. R. China (60334030, 60204007, 60474029, 60404007); The property of dichotomy of interconnected second-order pendulum-like systems with multiple equilibria is investigated. This interconnection can be viewed as harmonic control of independent sub-systems. Linear interc...; 关键词：谐波控制系统二分法互联系统钟摆类似系统

The numerical method for three-dimensional impact with friction of multi-rigid-body system被引量：8: 《Science China(Physics,Mechanics & Astronomy)》2006年第1期102-118,共17页ZHAO Zhen1,2, LIU Caishan2 & CHEN Bin2 1. Beijing Institute of Graphic Communication, Beijing 102600, China 2. Department of Mechanics & Engineering Science, Peking University, Beijing 100871, China; the National Natural Science Foundation of China (Grant Nos. 10272002, 10502009 , 60334030); the Natural Science Foundation of Beijing (Grant No. 1062007).; The differential equations for planar impacts reduce to an algebraic form, and can be easily solved. For three dimensional impacts with friction, there is no closed-form solution, and numerical integration is required...; 关键词：multi-rigid body impact friction.

冗余机器人的双向自运动路径规划被引量：3: 《控制理论与应用》2005年第4期547-550,共4页马保离; 国家自然科学基金资助项目(60274005);国家自然科学基金重点资助项目(60334030).; 冗余机器人的自运动路径规划是在保持手端任务向量不变的情况下,在关节空间内寻找一条连接机器人初始关节构形和期望关节构型的几何路径.本文给出一种双向自运动路径规划算法,其基本思想是使位于初始关节构形的真实机器人和位于期望关...; 关键词：冗余机器人自运动路径规划

Improved Robust Adaptive Control of a Fluidized Bed Combustor for Sewage Sludge被引量：1: 《自动化学报》2005年第4期562-566,共5页MENG Hong-Xia JIA Ying-Min; Supported by National Natural Science Foundation of P.R.China(60374001,60334030);the Chinese Ministry of Education(20030006003); This paper presents a robust model reference adaptive control scheme to deal with un-certain time delay in the dynamical model of a ?uidized bed combustor for sewage sludge. Thetheoretical analysis and simulation resu...; 关键词：Robust adaptive control fluidized bed combustor sewage sludge COMBUSTION time delay

Robust Smooth Time-varying Exponential Stabilization of Dynamic Nonholonomic Mobile Cart with Parameter Uncertainties被引量：3: 《自动化学报》2005年第2期314-319,共6页马保离; Supported by National Natural Science Foundation of P. R. China (60274005, 60334030); For regulating the dynamic nonholonomic mobile cart with parameter uncertainties, a time-varying robust control law is derived to yield globally exponential convergence of cart's position and orientation to the desire...; 关键词：参数不确定鲁棒镇定移动小车增强可靠性平滑时变控制

国家自然科学基金(60334030)