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	Trajectory tracking control of a quad-rotor UAV based on command filtered backstepping (EI CONFERENCE) 会议论文 OAI收割 2012 3rd International Conference on Intelligent Control and Information Processing, ICICIP 2012, July 15, 2012 - July 17, 2012, Dalian, China Gong X.; Bai Y.; Peng C.; Zhao C.; Tian Y. 收藏 \| 浏览/下载：30/0 \| 提交时间：2013/03/25 A quad-rotor unmanned aerial vehicle is an under-actuated strong coupled nonlinear system with parameters uncertainty and unknown external aerodynamic disturbance. The trajectory tracking control system with a nested double-loops structure is designed in this paper according to the coupling characteristic between the attitude angles and translational position. A PD control algorithm is proposed in the translational outer-loop to export the desired attitude signals to the attitude inner-loop. An adaptive backstepping control algorithm is designed in the inner-loop with respect to the uncertain rotational inertia and un-modeled disturbance while in order to reduce the computational complexity the command filtered approach is introduced into the designing procedure. And finally the numerical simulation results are presented for the trajectory tracking stabilization of a Quad-rotor which demonstrates the excellent performance of the proposed control system and illustrate its robustness in face of disturbance and uncertain parameters. 2012 IEEE.
	Neural network based online traffic signal controller design with reinforcement training (EI CONFERENCE) 会议论文 OAI收割 14th IEEE International Intelligent Transportation Systems Conference, ITSC 2011, October 5, 2011 - October 7, 2011, Washington, DC, United states Dai Y.; Hu J.; Zhao D.; Zhu F. 收藏 \| 浏览/下载：28/0 \| 提交时间：2013/03/25 Traffic congestion leads to problems like delays decreasing flow rate and higher fuel consumption. Consequently keeping traffic moving as efficiently as possible is not only important to economy but also important to environment. Traffic system is a large complex nonlinear stochastic system. Traditional mathematical methods have some limitations when they are applied in traffic control. Thus computational intelligence (CI) technologies gain more and more attentions. Neural Networks (NNs) is a well developed CI technology with lots of promising applications in traffic signal control (TSC). In this paper a neural network (NN) based signal controller is designed to control the traffic lights in an urban traffic road network. Scenarios of simulation are conducted under a microscopic traffic simulation software. Several criterions are collected. Results demonstrate that through online reinforcement training the controllers obtain better control effects than the widely used pre-time and actuated methods under various traffic conditions. 2011 IEEE.
	燃料电池控制方法及其应用研究学位论文 OAI收割工学博士, 中国科学院自动化研究所: 中国科学院研究生院, 2008 作者: 佟世文收藏 \| 浏览/下载：56/0 \| 提交时间：2015/09/02 燃料电池预测控制变论域模糊控制网络化控制混合系统欠驱动系统 fuel cell predictive control variable domain fuzzy control networked control hybrid system under-actuated system
	Kinematic analysis of a flexible six-DOF parallel mechanism 期刊论文 OAI收割 IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, 2006, 卷号: 36, 期号: 2, 页码: 379-389 作者: 收藏 \| 浏览/下载：18/0 \| 提交时间：2015/11/06 kinematics manipulator parallel mechanism robot under-actuated system
	基于专家系统的变步长一步预测控制与应用学位论文 OAI收割工学硕士, 中国科学院自动化研究所: 中国科学院研究生院, 2003 朱江滨收藏 \| 浏览/下载：34/0 \| 提交时间：2015/09/02 倒立摆非线性欠驱动机构预测控制专家系统 Expert system Inverted pendulum Nonlinear Predictive control Under-actuated structure