This paper addresses the tracking problem for the dynamic model of a unicycle mobile robot. A novel optimization method inspired on the chemical reactions is applied to solve this motion problem by integrating a kinematic and a torque controller based on fuzzy logic theory. Computer simulations are presented confirming that this optimization paradigm is able to outperform other optimization techniques applied to this particular robot application.

关键词：控制器；扰动力矩；化学优化范式；自主移动机器人；模糊跟踪控制器

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Based on the electro-hydraulic proportional system of a demolition robot working device,a simplified mathematical model was established by analyzing dynamic characteristics of the electro-hydraulic proportional valve,flow equation,the continuity equation and force equilibrium equations,and the fuzzy self-adaptive PID controller was designed to realize position control of working equipment.The simulations reveal that,compared with traditional PID,the fuzzy self-adaptive PID controller has these advantages such as smaller overshoot,good dynamic response and steady state performance.

关键词：控制器；液压系统；建模；降级机器人；运动控制

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In view of the surplus torque and complexity of controlled plant in passive electrical load system,a novel approach based on single neuron PID adaptive control and repetitive control for repetitive periodic load control system is proposed.Radial basis function (RBF) neural network is used to identify the system on-line for the single neuron PID controller to adjust its weights and PID parameters by self-learning and self-adapting based on the desired output.The dynamic state performance can be improved by the single neuron adaptive PID control and the steady state performance is also improved by modified repetitive control.Computer simulation results show that the force/position hybrid control system can effectively reduce the surplus torque and improve the loading precision,and also it has fine dynamic and steady state performance and good robustness.The reliability of whole system is further improved.

关键词：控制器；单神经元；自适应PID；重复控制；电气负载力控制系统

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The holistic approach to PID controller tuning, which involves the coordinated use of modified relay feedback test and tuning rules, is presented in this chapter. It is shown that with this approach, specifications to gain margin or phase margin can be satisfied. Performance requirements to a number of typical industrial processes are analysed, and optimal tuning rules for the modified relay feedback test application are produced on the basis of this analysis.

关键词：控制器；继电反馈测试；PID控制器；定时

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The derivation, implementation and testing of an active surge controller for a centrifugal compressor is presented in this chapter. The control method proposed here employs the thrust AMB to servo control the axial clearance between the impeller tip and the static shroud. Through the modulation of the impeller axial position, the disturbances associated with the initiation of the surge instability can be counteracted, and surge can be suppressed before it reaches the full amplitude of the limit cycle. The surge controller derived in this chapter is first tested in simulation to verify the theory and assumptions needed for the design of the control algorithm, and then implemented on the experimental compressor test rig in order to validate the theory and demonstrate the effectiveness of the control method in an actual industrial compressor.

关键词：控制器；压缩机；喘振控制

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关键词：控制器；容错传感节点；智能；涡轮发动机

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This paper describes the application of the optimization algorithm based on particle swarms known by its acronym as PSO, used to adjust the parameters of membership functions of a fuzzy logic controller (FLC) to find the optimal intelligent control for a wheeled autonomous mobile robot. Results of several simulations show that the PSO is able to optimize the type-1 and type 2 FLCs for this specific application.

关键词：控制器；粒子群算法；自主移动机器人；模糊控制器；优化隶属度函数

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We develop and describe a stable gain scheduling controller for a gas turbine engine that drives a variable pitch propeller. A stability proof is developed for gain scheduled closed-loop system using global linearization and linear matrix inequality (LMI) techniques. Using convex optimization tools, a single quadratic Lyapunov function is computed for multiple linearizations near equilibrium and non-equilibrium points of the nonlinear closed-loop system. This approach guarantees stability of the closedloop gas turbine engine system. Simulation results show the developed gain scheduling controller is capable of regulating a turboshaft engine for large thrust commands in a stable fashion with proper tracking performance.

关键词：控制器；增益调度控制；燃气涡轮发动机

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Modern conventional submarines use diesel generators to provide power for propulsion and the hotel load. The governor, often a proportional- integral controller, attempts to maintain a constant speed by regulating the fuel flow to compensate for the back pressure disturbances due to the underwater exhaust. Poor control can cause fluctuating exhaust gas temperatures, leading to increased wear and reduced reliability. This paper develops a low order engine model which is then used to investigate the performance benefits that can be obtained through proper tuning of the governor control parameters. It is found that the engine exhibits stable behaviour over a very wide range of controller gains, and that tuning the governor solely to minimise the engine speed fluctuations may not minimise the exhaust gas temperature fluctuations.

关键词：控制器；潜艇柴油机；调速器控制；参数设置

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关键词：控制器；多目标进化算法；分数阶控制器

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