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稳健设计 5

可靠性灵敏度 3

多目标优化 3

扫描格式转换 3

自适应 3

自适应控制 3

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鲁棒控制 2

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Hilare 机器人 1

H∞控制；零和动态博弈；强化学习；自适应动态规划；极小极大Q-学习；策略迭代 1

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Adaptive robust beamformer formulti-pair two-way relay networks with imperfect channel state information

Jin WANG,Feng SHU,Ri-qing CHEN,Yu-di CUI,Yu CHEN,Jun LI

《信息与电子工程前沿（英文）》 2016年第17卷第3期页码 265-280 doi: 10.1631/FITEE.1500134

摘要： In wideband multi-pair two-way relay networks, the performance of beamforming at a relay station (RS) is intimately related to the accuracy of the channel state information (CSI) available. The accuracy of CSI is determined by Doppler spread, delay between beamforming and channel estimation, and density of pilot symbols, including transmit power of pilot symbols. The coefficient of the Gaussian-Markov CSI error model is modeled as a function of CSI delay, Doppler spread, and signal-to-noise ratio, and can be estimated in real time. In accordance with the real-time estimated coefficients of the error model, an adaptive robust maximum signal-to-interferenceand- noise ratio (Max-SINR) plus maximum signal-to-leakage-and-noise ratio (Max-SLNR) beamformer at an RS is proposed to track the variation of the CSI error. From simulation results and analysis, it is shown that: compared to existing non-adaptive beamformers, the proposed adaptive beamformer is more robust and performs much better in the sense of bit error rate (BER); with increase in the density of transmit pilot symbols, its BER and sum-rate performances tend to those of the beamformer of Max-SINR plus Max-SLNR with ideal CSI.

关键词： Multi-pair two-way relay Adaptive robust beamformer Channel state information (CSI) Maximum signal-to-interference-and-noise ratio (Max-SINR) Maximum signal-to-leakage-and-noise ratio (Max-SLNR)

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离心机的自适应鲁棒控制系统

李果,张培昌,胡剑飞,余达太

《中国工程科学》 2006年第8卷第9期页码 30-34

摘要：

为了改善离心机的控制性能和稳定性，进行了离心机的自适应鲁棒控制系统研究；基于电动机与离心机相连的结构，设计了控制器以期得到满意的控制性能；首先提出了一种基于自适应鲁棒控制器的离心机控制系统，针对离心机模型设计了自适应鲁棒控制算法；试验结果证明了该控制算法的有效性；在环境条件不同的情况下，离心机控制系统仍表现了满意的控制性能。

关键词：离心机自适应控制鲁棒控制

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View-invariant human action recognition via robust locally adaptive multi-view learning

Jia-geng FENG,Jun XIAO

《信息与电子工程前沿（英文）》 2015年第16卷第11期页码 917-920 doi: 10.1631/FITEE.1500080

摘要： Human action recognition is currently one of the most active research areas in computer vision. It has been widely used in many applications, such as intelligent surveillance, perceptual interface, and content-based video retrieval. However, some extrinsic factors are barriers for the development of action recognition; e.g., human actions may be observed from arbitrary camera viewpoints in realistic scene. Thus, view-invariant analysis becomes important for action recognition algorithms, and a number of researchers have paid much attention to this issue. In this paper, we present a multi-view learning approach to recognize human actions from different views. As most existing multi-view learning algorithms often suffer from the problem of lacking data adaptiveness in the nearest neighborhood graph construction procedure, a robust locally adaptive multi-view learning algorithm based on learning multiple local L1-graphs is proposed. Moreover, an efficient iterative optimization method is proposed to solve the proposed objective function. Experiments on three public view-invariant action recognition datasets, i.e., ViHASi, IXMAS, and WVU, demonstrate data adaptiveness, effectiveness, and efficiency of our algorithm. More importantly, when the feature dimension is correctly selected (i.e.,>60), the proposed algorithm stably outperforms state-of-the-art counterparts and obtains about 6% improvement in recognition accuracy on the three datasets.

关键词： View-invariant Action recognition Multi-view learning L1-norm Local learning

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基座参数欠精确环境下双机械臂刚体夹持系统的自适应神经鲁棒控制 Research

Fan XU, Jin WANG, Guo-dong LU

《信息与电子工程前沿（英文）》 2018年第19卷第11期页码 1316-1327 doi: 10.1631/FITEE.1601707

摘要：针对基座参数欠精确环境下双机械臂刚体夹持系统的自适应调控问题进行研究。提出一种自适应神经鲁棒控制器，能同时解决基座参数欠精确、系统内力、建模不确定性、关节摩擦以及外部干扰等多种问题。该控制器采用一个径向基神经网络来逼近系统包括非预期内力在内的全部动力学部分。结合仿真实验和分析，该控制器能有效保证轨迹跟踪误差渐进收敛于0，并保持内力在可接受范围。在自适应调节机制下，该方法能对系统中双机械臂进一步在线精确标定。为保证系统全局稳定性，该控制器建立定制化鲁棒补偿，结合李雅普诺夫理论，证明该控制器在基座欠精确以及其他多种不确定环境下的鲁棒性。

关键词：协同机械臂；神经网络；欠精确基座平移坐标；自适应控制；鲁棒控制

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非线性系统的自适应可拓控制器设计

翁庆昌,陈珍源

《中国工程科学》 2001年第3卷第7期页码 54-58

摘要：

探讨可拓控制器的设计方法,利用自适应控制的设计策略来修正可拓控制器的增益参数,以近似获得所期望的最佳控制。所提出的控制器结构仅需调整单一参数,故易于实现。另外,引入最大值控制以保证所设计的可拓控制系统的稳定性，并将该控制器应用在非线性系统的控制上,以验证它的有效性及控制能力。

关键词：可拓理论自适应控制可拓控制器鲁棒稳定性

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An approach for evaluating the impact of an intermittent renewable energy source on transmission expansion planning

Rongrit CHATTHAWORN,Surachai CHAITUSANEY

《信息与电子工程前沿（英文）》 2015年第16卷第10期页码 871-882 doi: 10.1631/FITEE.1500049

摘要： We propose a new robust optimization approach to evaluate the impact of an intermittent renewable energy source on transmission expansion planning (TEP). The objective function of TEP is composed of the investment cost of the transmission line and the operating cost of conventional generators. A method to select suitable scenarios representing the intermittent renewable energy generation and loads is proposed to obtain robust expansion planning for all possible scenarios. A meta-heuristic algorithm called adaptive tabu search (ATS) is employed in the proposed TEP. ATS iterates between the main problem, which minimizes the investment and operating costs, and the subproblem, which minimizes the cost of power generation from conventional generators and curtailments of renewable energy generation and loads. The subproblem is solved by nonlinear programming (NLP) based on an interior point method. Moreover, the impact of an intermittent renewable energy source on TEP was evaluated by comparing expansion planning with and without consideration of a renewable energy source. The IEEE Reliability Test System 79 (RTS 79) was used for testing the proposed method and evaluating the impact of an intermittent renewable energy source on TEP. The results show that the proposed robust optimization approach provides a more robust solution than other methods and that the impact of an intermittent renewable energy source on TEP should be considered.

关键词： Adaptive tabu search Renewable energy generation Robust optimization Transmission expansion planning

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Model-based nonlinear control of hydraulic servo systems: Challenges, developments and perspectives

Jianyong YAO

《机械工程前沿（英文）》 2018年第13卷第2期页码 179-210 doi: 10.1007/s11465-018-0464-3

摘要：

Hydraulic servo system plays a significant role in industries, and usually acts as a core point in control and power transmission. Although linear theory-based control methods have been well established, advanced controller design methods for hydraulic servo system to achieve high performance is still an unending pursuit along with the development of modern industry. Essential nonlinearity is a unique feature and makes model-based nonlinear control more attractive, due to benefit from prior knowledge of the servo valve controlled hydraulic system. In this paper, a discussion for challenges in model-based nonlinear control, latest developments and brief perspectives of hydraulic servo systems are presented: Modelling uncertainty in hydraulic system is a major challenge, which includes parametric uncertainty and time-varying disturbance; some specific requirements also arise ad hoc difficulties such as nonlinear friction during low velocity tracking, severe disturbance, periodic disturbance, etc.; to handle various challenges, nonlinear solutions including parameter adaptation, nonlinear robust control, state and disturbance observation, backstepping design and so on, are proposed and integrated, theoretical analysis and lots of applications reveal their powerful capability to solve pertinent problems; and at the end, some perspectives and associated research topics (measurement noise, constraints, inner valve dynamics, input nonlinearity, etc.) in nonlinear hydraulic servo control are briefly explored and discussed.

关键词： hydraulic servo system adaptive control robust control nonlinear friction disturbance compensation repetitive control noise alleviation constraint control

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A systematic review of current and emergent manipulator control approaches

Syed Ali AJWAD,Jamshed IQBAL,Muhammad Imran ULLAH,Adeel MEHMOOD

《机械工程前沿（英文）》 2015年第10卷第2期页码 198-210 doi: 10.1007/s11465-015-0335-0

摘要：

Pressing demands of productivity and accuracy in today’s robotic applications have highlighted an urge to replace classical control strategies with their modern control counterparts. This recent trend is further justified by the fact that the robotic manipulators have complex nonlinear dynamic structure with uncertain parameters. Highlighting the authors’ research achievements in the domain of manipulator design and control, this paper presents a systematic and comprehensive review of the state-of-the-art control techniques that find enormous potential in controlling manipulators to execute cutting-edge applications. In particular, three kinds of strategies, i.e., intelligent proportional-integral-derivative (PID) scheme, robust control and adaptation based approaches, are reviewed. Future trend in the subject area is commented. Open-source simulators to facilitate controller design are also tabulated. With a comprehensive list of references, it is anticipated that the review will act as a first-hand reference for researchers, engineers and industrial-interns to realize the control laws for multi-degree of freedom (DOF) manipulators.

关键词： robot control robust and nonlinear control adaptive control intelligent control industrial manipulators robotic arm

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含参数初值整定和自适应鲁棒方法的3-RPS气动并联平台位姿控制 Article

Guo-liang TAO,Ce SHANG,De-yuan MENG,Chao-chao ZHOU

《信息与电子工程前沿（英文）》 2017年第18卷第3期页码 303-316 doi: 10.1631/FITEE.1500353

摘要：本文讨论了关于气缸驱动的3-RPS并联平台的一种控制方法。研究对象使用气动比例方向阀控制各驱动气缸，并建立了系统的运动学和动力学模型，采用基于反步法和在线参数辨识的自适应鲁棒控制器作为主要控制方式。同时为了满足对系统未建模部分和参数估计误差导致的干扰，将直接自适应快速补偿集成与控制器的设计中。为了避免因为在平台运动过程等实际工况中负载变化对性能造成的影响，提出了一种参数初值整定模式，提升了控制算法的适应性。通过采用这些方法，并联平台位姿轨迹跟踪性能的频响和精度均有了提升，并且负载和约束内力对平台控制性能造成的不良影响也得到了消除。不同工况下的实验显示了所设计的控制方法的良好性能，使整体平均相对误差减小到1%以内。

关键词：参数初值整定；自适应鲁棒控制；并联机构；气缸

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Pareto lexicographic α-robust approach and its application in robust multi objective assembly line balancing

null

《机械工程前沿（英文）》 2014年第9卷第3期页码 257-264 doi: 10.1007/s11465-014-0294-x

摘要：

Robustness in most of the literature is associated with min-max or min-max regret criteria. However, these criteria of robustness are conservative and therefore recently new criteria called, lexicographic α-robust method has been introduced in literature which defines the robust solution as a set of solutions whose quality or jth largest cost is not worse than the best possible jth largest cost in all scenarios. These criteria might be significant for robust optimization of single objective optimization problems. However, in real optimization problems, two or more than two conflicting objectives are desired to optimize concurrently and solution of multi objective optimization problems exists in the form of a set of solutions called Pareto solutions and from these solutions it might be difficult to decide which Pareto solution can satisfy min-max, min-max regret or lexicographic α-robust criteria by considering multiple objectives simultaneously. Therefore, lexicographic α-robust method which is a recently introduced method in literature is extended in the current research for Pareto solutions. The proposed method called Pareto lexicographic α-robust approach can define Pareto lexicographic α-robust solutions from different scenarios by considering multiple objectives simultaneously. A simple example and an application of the proposed method on a simple problem of multi objective optimization of simple assembly line balancing problem with task time uncertainty is presented to get their robust solutions. The presented method can be significant to implement on different multi objective robust optimization problems containing uncertainty.

关键词： Pareto lexicographic α-robust assembly line balancing

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Target-oriented robust optimization of a microgrid system investment model

Lanz UY, Patric UY, Jhoenson SIY, Anthony Shun Fung CHIU, Charlle SY

《能源前沿（英文）》 2018年第12卷第3期页码 440-455 doi: 10.1007/s11708-018-0563-1

摘要：

An emerging alternative solution to address energy shortage is the construction of a microgrid system. This paper develops a mixed-integer linear programming microgrid investment model considering multi-period and multi-objective investment setups. It further investigates the effects of uncertain demand by using a target-oriented robust optimization (TORO) approach. The model was validated and analyzed by subjecting it in different scenarios. As a result, it is seen that there are four factors that affect the decision of the model: cost, budget, carbon emissions, and useful life. Since the objective of the model is to maximize the net present value (NPV) of the system, the model would choose to prioritize the least cost among the different distribution energy resources (DER). The effects of load uncertainty was observed through the use of Monte Carlo simulation. As a result, the deterministic model shows a solution that might be too optimistic and might not be achievable in real life situations. Through the application of TORO, a profile of solutions is generated to serve as a guide to the investors in their decisions considering uncertain demand. The results show that pessimistic investors would have lower NPV targets since they would invest more in storage facilities, incurring more electricity stock out costs. On the contrary, an optimistic investor would tend to be aggressive in buying electricity generating equipment to meet most of the demand, however risking more storage stock out costs.

关键词： microgrid renewable resources robust optimization target-oriented robust optimization

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先进控制方法在航天器上的应用：进展、挑战和未来发展 Review

Yong-chun XIE,Huang HUANG,Yong HU,Guo-qi ZHANG

《信息与电子工程前沿（英文）》 2016年第17卷第9期页码 841-861 doi: 10.1631/FITEE.1601063

摘要：概要：本文从工程师角度出发，对当前先进控制方法在航天器上的应用情况进行综述。本文没有从先进控制方法的理论研究入手，而是从工程实际出发，重点关注包括在轨试验、地面物理仿真实验以及基于在轨数据的仿真实验三类工程应用情况。本文的目的是向工程师们展示已获得实际应用的先进控制方法，而不是仅仅停留在理论研究阶段的方法。我们通过大量的文献调研发现，尽管当前先进控制理论和方法发展得非常迅速，但是绝大部分先进控制方法距离在航天器上实际应用还有较远的距离。目前，国内外发射的大量航天器中，只有屈指可数的极少数航天器采用了先进控制方法，其中H2/Hinfinity鲁棒控制主要用在弹性模态较为明显的航天器上，MARC等自适应控制方法主要用于处理模型不确定的情况，LQR主要用于对航天器性能进行优化。望从事航天器控制的工程师们通过本文的研究，可以对具有较强工程应用价值的先进控制方法有一个全面的认识；同时，也向理论研究者们提出了航天器实际的工程需求。

关键词：航天器控制；鲁棒控制自适应控制；最优控制

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Robust control of

Xueyan TANG, I-Ming CHEN

《机械工程前沿（英文）》 2009年第4卷第1期页码 25-34 doi: 10.1007/s11465-009-0004-2

摘要： This article describes the development of an flexure-based micromanipulator, with the features of decoupled kinematic structure, large motion range, high positioning precision, and fast response. The large motion range of flexure mechanisms is quantified by a given definition. Based on the given definition, large motion is achieved in the mechanical design of the -flexure parallel mechanism (FPM). To ensure high positioning precision and fast dynamic response, a hybrid control algorithm with both position control and vibration control are designed, using the H -theory. The controller strongly solves the three common problems of flexure mechanisms simultaneously, including unmodeled uncertainties, the external disturbances and vibration caused by inherent low damping.

关键词： robust control flexure mechanisms flexure-based micromanipulator

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Shape design of arch dams under load uncertainties with robust optimization

Fengjie TAN, Tom LAHMER

《结构与土木工程前沿（英文）》 2019年第13卷第4期页码 852-862 doi: 10.1007/s11709-019-0522-x

摘要： Due to an increased need in hydro-electricity, water storage, and flood protection, it is assumed that a series of new dams will be build throughout the world. The focus of this paper is on the non-probabilistic-based design of new arch-type dams by applying means of robust design optimization (RDO). This type of optimization takes into account uncertainties in the loads and in the material properties of the structure. As classical procedures of probabilistic-based optimization under uncertainties, such as RDO and reliability-based design optimization (RBDO), are in general computationally expensive and rely on estimates of the system’s response variance, we will not follow a full-probabilistic approach but work with predefined confidence levels. This leads to a bi-level optimization program where the volume of the dam is optimized under the worst combination of the uncertain parameters. As a result, robust and reliable designs are obtained and the result is independent from any assumptions on stochastic properties of the random variables in the model. The optimization of an arch-type dam is realized here by a robust optimization method under load uncertainty, where hydraulic and thermal loads are considered. The load uncertainty is modeled as an ellipsoidal expression. Comparing with any traditional deterministic optimization method, which only concerns the minimum objective value and offers a solution candidate close to limit-states, the RDO method provides a robust solution against uncertainty. To reduce the computational cost, a ranking strategy and an approximation model are further involved to do a preliminary screening. By this means, the robust design can generate an improved arch dam structure that ensures both safety and serviceability during its lifetime.

关键词： arch dam shape optimization robust optimization load uncertainty approximation model

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Reliability-based robust design optimization of vehicle components, Part I: Theory

Yimin ZHANG

《机械工程前沿（英文）》 2015年第10卷第2期页码 138-144 doi: 10.1007/s11465-015-0333-2

摘要：

The reliability-based design optimization, the reliability sensitivity analysis and robust design method are employed to present a practical and effective approach for reliability-based robust design optimization of vehicle components. A procedure for reliability-based robust design optimization of vehicle components is proposed. Application of the method is illustrated by reliability-based robust design optimization of axle and spring. Numerical results have shown that the proposed method can be trusted to perform reliability-based robust design optimization of vehicle components.

关键词： vehicle components reliability-based design optimization reliability-based sensitivity analysis multi-objective optimization robust design