自适应控制

A robust output feedback controller is advanced by using the DRNN-based observer presented above, so that the output-matching and lipschitz conditions are not imposed on the uncertainties; Robust adaptive controller is used in a class of nonlinear systems based on neural networks and H〓 methods, thereby the constraint on uncertainties with largest known boundness is removed, not as in H〓 methods.

利用本文的动态神经网络鲁棒观测器，设计了鲁棒输出反馈控制器，取消了已有结果对未知动态的输出匹配条件的限制；结合静态神经网和H〓控制方法，对一类非线性系统设计了鲁棒自适应反馈控制器，克服了H〓控制要求不确定性最大可能界已知的不足，其最大优点是仅要求网络逼近误差有界，且不要求网络权的离线训练。

Consequently the NN adaptive unit is added into the control loop according to the NN on-line approximate property. Lastly the chapter combines the proposed shortest path-planning method and the adaptive tracking method in order to stabilize the NWMR about a posture through the shortest path. Many simulations are carried out on MATLAB and the simulation results are very feasible and reasonable. Chapter 5 proposes a new localization method for the WMR running on inclined planes based on fusion of clinometric and an odometric data by Kalman filter.

本文首先求得了在斜面上运行的NWMR动力学系统的状态方程；接着选择了适当形式的系统输出方程，采用非线性系统解耦方法对该系统实现了输入—输出线性化，并应用线性系统方法进行镇定；然后提出了基于人工神经网在线逼进NWMR动力学特性的自适应跟踪控制方法；最后将本文最短距离路径规划方法与跟踪控制方法相结合实现了NWMR系统状态镇定，并通过仿真实验证明了该方法的有效性。

Based on electro-hydraulic servo control technology and computer control technology, this thesis studies the digital self-adaptative control dynamic electro-hydraulic fatigue testing machine, which is widely applied in several fields, such as aerospace, national defense and military industry, railways equipment, machinofacture, vehicle and ship industry, metallurgy, mine engineering, architectural material, petrochemical industry, plastic and rubber industry, wire and cable industry, etc.

本文以广泛应用于航空航天、国防军工、铁路装备、机械制造、车辆船舶、冶金矿山、建筑建材、石油化工、塑料橡胶、电线电缆等多个领域的电液疲劳试验机为研究对象，以电液伺服控制技术和计算机控制技术为基础，旨在研究高响应、高静态精度、高动态精度、数字化、载荷自适应的疲劳试验机。

Comparing with Pyragas's method, the adaptive delayed feedback method possesses stronger robusticity, in addition, the method can stabilize chaotic system onto desired periodic orbit in shorter time.

与Pyragas延时反馈控制方法相比，自适应延时反馈控制方法具有较强的鲁棒性。另外，该方法能够在较短的时间内将混沌系统稳定在期望的周期轨道上。

Comparing to the classic PI control, the results of the simulations show that the proposed controller is effective. It has a robust dynamic performance with a strong capability of restraining unmodeled dynamics and bounded disturbances.

通过换流站控制的仿真实验，与传统的PI控制仿真结果相比较，这种新颖的换流站控制器更加符合实际，具有抑制系统未建模动态和有界扰动的能力，因此具有更强的鲁棒性和自适应学习能力以及较好的动态性能。

6DOF simulation results show that the above two NNBAC control schemes have the following characteristics: strong robustness and adaptability against model uncertainty; effective decoupling among the three channels; validness throughout the entire flight envelope of the BTT missiles.

6DOF数学仿真结果证明，以上所设计的两种BTT导弹控制系统（NNBAFL和NNBAMF）都具有强的鲁棒性和自适应能力，能够有效实现三通道间的解耦，能够有效克服模型不确定性问题，并且适合于控制导弹作大空域飞行。

PID-NN algorithm based on the basic principles of PID is introduced for feedback controller that automatically adaptive to the variation of unit's parameters and assorts with feedforward compensation through on line learning.

反馈控制器按PID控制规律构造PID-NN网络，通过在线学习自适应机组参数的变化和与模糊前馈相协调，对系统误差进一步控制。

The vehicle detection subsystem uses loop vehicle detector. The bus detection and location subsystem uses the beaconing location technology. The intelligent signal controller accomplishes real-time and adaptive traffic control. The communication subsystem accomplishes the communication among every part in the system. The system control center accomplishes the correlation and integration among subsystems.

其中，车辆检测子系统采用环形线圈检测器；公交车检测与定位子系统采用信号标杆定位技术；智能信号控制器实现实时自适应、智能化的信号控制；通信子系统完成系统中各部分之间的通信；控制中心完成各子系统之间的相互联系和集成。

Simulation control of ship manoeuvring based on adaptive inverse control technology.

基于自适应逆控制技术的船舶操纵仿真控制。

A fuzzy tunning PID controller sing roll angle input source is applied in the active roll control. It is co-simulated under the Matlab/Simulink software environment and realizes the online coordination.

采用模糊自适应PID控制策略，在Matlab/Simulink环境中对车辆抗侧倾性能进行了联合仿真，实现了PID控制过程中参数的在线整定。

Breath, muscle contraction of the buttocks; arch body, as far as possible to hold his head, right leg straight towards the ceiling (peg-leg knee in order to avoid muscle tension).

呼气，收缩臀部肌肉；拱起身体，尽量抬起头来，右腿伸直朝向天花板（膝微屈，以避免肌肉紧张）。

The cost of moving grain food products was unchanged from May, but year over year are up 8%.

粮食产品的运输费用与5月份相比没有变化，但却比去年同期高8％。