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Improved potential energy-shaping for port-controlled Hamiltonian systems

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控制理论与应用（英文版） 2012年第3期10卷 385-390页

作者： Liangcheng CAI Yong HE Min WU jinhua she School of Information Science and Engineering Central South UniversityChangsha Hunan 410083China Hunan Engineering Laboratory for Advanced Control and Intelligent Automation Changsha Hunan 410083China School of the Computer Science Tokyo University of TechnologyTokyo 192-0982Japan

This paper investigates the asymptotical stabilization of port-controlled Hamiltonian （PCH） systems via the improved potential energy-shaping （IPES） method. First, a desired potential energy introduced by a transitive Hamiltonian function is added to the original kinetic energy to yield a desired Hamiltonian function. Second, an asymptotically stabilized controller is designed based on a new matching equation with the obtained Hamiltonian function. Finally, a numerical example is given to show the effectiveness of the proposed method.

关键词： Port-controlled Hamiltonian (PCH) systems Improved potential energy-shaping (IPES) Asymptoticalstabilization

Selection of Suitable Maximum-heart-rate Formulas for Use with Karvonen Formula to Calculate Exercise Intensity

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International Journal of Automation and computing 2015年第1期12卷 62-69页

作者： jinhua she Hitoshi Nakamura Koji Makino Yasuhiro Ohyama Hiroshi Hashimoto Graduate School of Bionics Computer and Media Sciences Tokyo University of Technology 1404-1 KatakuraHachioji Tokyo 192-0982 Japan Interdisciplinary Graduate School of Medical and Engineering University of Yamanashi4-3-11 Takeda Kofu 400-8511 Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology 1-10-40 HigashiooiShinagawa-ku Tokyo 140-0011 Japan

The Karvonen formula, which is widely used to estimate exercise intensity, contains maximum heart rate, H Rmax, as a variable. This study employed pedaling experiments to assess which of the proposed formulas for calculating H Rmaxwas the most suitable for use with the Karvonen formula. First, two kinds of experiments involving an ergometer were performed: an all-in-one-day experiment that tested eight pedaling loads in one day, and a one-load-per-day experiment that tested one load per day for eight days.A comparison of the data on 7 subjects showed that the all-in-one-day type of experiment was better for assessing H Rmaxformulas,at least for the load levels tested in our experiments. A statistical analysis of the experimental data on 47 subjects showed two of the H Rmaxformulas to be suitable for use in the Karvonen formula to estimate exercise intensity for males in their 20 s. In addition, the physical characteristics of a person having the greatest impact on exercise intensity were determined.

关键词： Borg CR10 scale Karvonen formula exercise intensity maximum heart rate pedaling statistical analysis

Intelligent Integrated Control of Underactuated Mechanical Systems with Second-order Nonholonomic Constraints

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High Technology Letters 2003年第3期9卷 81-85页

作者：赖旭芝 Wu Min Cai Zixing she jinhua School of Information Science & Engineering Central South University Changsha Hunan 410083 P.R.China Mechatronics Department Tokyo University of Technology Hachioji Tokyo 192-8580 Japan

This paper describes an intelligent integrated control of an acrobot, which is an underactuated mechanical system with second-order nonholonomic constraints. The control combines a model-free fuzzy control, a fuzzy sliding-mode control and a model-based fuzzy control. The model-free fuzzy controller designed for the upswing ensures that the energy of the acrobot increases with each swing. Then the fuzzy sliding-mode controller is employed to control the movement that the acrobot enters the balance area from the swing-up area. The model-based fuzzy controller, which is based on a Takagi-Sugeno fuzzy model, is used to balance the acrobot. The stability of the fuzzy control system for balance control is guaranteed by a common symmetric positive matrix, which satisfies linear matrix inequalities.

关键词：机器人移动控制智能综合控制二阶不完整约束模糊控制

Design of equivalent-input-disturbance estimator using a generalized state observer

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控制理论与应用（英文版） 2013年第1期11卷 74-79页

作者： Min WU Kunpeng LOU Fangchun XIAO Ruijuan LIU Yong HE jinhua she School of Information Science and Engineering Central South University Hunan Engineering Laboratory for Advanced Control and Intelligent Automation School of Computer Science Tokyo University of Technology

In this paper, we present a design method based on the concept of equivalent input disturbance （EID） to reject disturbances for a linear time-invariant system. A generalized state observer （GSO） is used to estimate an EID of the external disturbances, and the pole-assignment algorithm is employed to select the matrices of the GSO. Simulation and experimental results of a rotational speed control system demonstrate the validity of our method.

关键词： Disturbance estimation Disturbance rejection Equivalent input disturbance Generalized state observer Pole assignment Rotational speed control

An improved robust stability and robust stabilization method for linear discrete-time uncertain systems

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控制理论与应用（英文版） 2007年第1期5卷 99-103页

作者： Xianming ZHANG Min WU jinhua she Dongsheng HAN School of Information Science and Engineering Central South University Changsha Hunan 410083 China School of Mathematical Science and Computing Technology Central South University Changsha Hunan 410083 China School of Bionics Tokyo University of Technology Tokyo 192-0982 Japan Faculty of Business and Informatics Central Queensland University Rockhampton 4702 Australia

This paper addresses the problems of the robust stability and robust stabilization of a discrete-time system with polytopic uncertainties. A new and simple method is presented to directly decouple the Lyapunov matrix and the system dynamic matrix. Combining this method with the parameter-dependent Lyapunov function approach yields new criteria that include some existing ones as special cases. A numerical example illustrates the improvement over the existing ones.

关键词： Robust stability Robust stabilization Parameter-dependent Lyapunov function Linear matrix inequality

H-infinity control for networked control systems (NCS) with time-varying delays

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控制理论与应用（英文版） 2005年第2期3卷 157-162页

作者： Hong ZHAO Min WU Guoping LIU jinhua she School of Information Science and Engineering Central South University Changsha Hunan 410083 China Laboratory of Complex Systems and Intelligence Science Chinese Academy of Sciences Beijing 100080 China School of Electronics University of Glamorgan Pontypridd CF37 IDL UK School of Bionics Tokyo University of Technology Tokyo 192-0982Japan

This paper discusses H-infinity state feedback control for a networked control system with time-varying delays. Based on the flee-weighing matrix method, a dehy-dependent stability criterion satisfying a prescribed H-infinity norm bound is presented for an NCS with unknown, time-varying and bounded delays. And then, the criterion is transformed into sufficient conditions based on linear matrix inequalities for H-infinity control. The conditions thus obtained are also used to design an H-infinity state feedback controller. This design method is further extended to solve the design problem of robust H-infinity state feedback control. A numerical example demonstrates the validity of the method.

关键词： H-infinity control Networked control system (NCS) Time-varying delay State feedback Linear matrix inequality(LMI) Robust control

Delay-dependent robust H-infinity control for discrete-time uncertain systems with time-varying state delays

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控制理论与应用（英文版） 2006年第4期4卷 355-360页

作者： Xianming ZHANG Min WU jinhua she Dongsheng HAN School of Information Science and Engineering Central South University Changsha Hunan 410083 China School of Mathematical Science and Computing Technology Central South University Changsha Hunan 410083 China School of Bionics Tokyo University of Technology Tokyo 192-0982 Japan Faculty of Business and Inforrnatics Central Queensland University Rockhampton 4702 Australia

This paper examines the delay-dependent H-infinity control problem for discrete-time linear systems with time-varying state delays and norm-bounded uncertainties. A new inequality for the finite sum of quadratic terms is first established. Then, some new delay-dependent criteria are derived by employing the new inequality to guarantee the robust stability of a closed-loop system with a prescribed H-infinity norm bound for all admissible uncertainties and bounded time-vary delays. A numerical example demonstrates that the proposed method is an improvement over existing ones.

关键词： Time-varying delay Discrete-time linear system Delay-dependent H-infinity control Finite-sum inequality Memoryless state feedback

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基于趋势分析的焦炉加热燃烧过程工况辨识

高技术通讯 2011年第8期21卷 879-885页

作者：雷琪吴敏佘锦华中南大学信息科学与工程学院长沙410083 东京工科大学计算机科学学部东京192-0982

基于趋势分析方法，研究了焦炉加热燃烧过程工况辨识方法。通过分析焦炉加热燃烧过程工艺，建立了包括单个炭化室工况辨识和焦炉加热燃烧过程工况辨识的信息融合总体结构。基于趋势分析方法分析安装在焦炉上升管的热电偶数据的一致性和... 详细信息

基于趋势分析方法，研究了焦炉加热燃烧过程工况辨识方法。通过分析焦炉加热燃烧过程工艺，建立了包括单个炭化室工况辨识和焦炉加热燃烧过程工况辨识的信息融合总体结构。基于趋势分析方法分析安装在焦炉上升管的热电偶数据的一致性和可靠性，提取特征点，采用专家规则对各个炭化室的数据进行分析，辨识单个炭化室的工况；对单个炭化室的输出空间进行整理、分类，作为焦炉加热燃烧过程工况识别的输入空间，采用模糊信息融合的方法进行信息融合，得出焦炉加热燃烧过程的实时工况。仿真分析验证了所提方法的有效性。

关键词：加热燃烧过程趋势分析模糊信息融合工况辨识

Exponential Stability of Highly Nonlinear Neutral Stochastic Differential Delay Equations

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Exponential Stability of Highly Nonlinear Neutral Stochastic...