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	1. Nonlinear Adaptive Regulation Control of A Quadrotor Unmanned Aerial Vehicle
	Zeng Wei,Xian Bin,Diao Chen,Yin Qiang,Li Haotao,Yang Yungao
	Electrics, Communication and Autocontrol Technology 29 August 2011
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	Abstract:In this paper, a nonlinear adaptive regulation controller is presented for aclass of underactuated quadrotor unmanned aerial vehicle (UAV). The vehicle'sdynamics is subject to modeling impression associated with the inertia matrix,aerodynamic damping coefficients, and some other system parameters. Theon-line parameter estimation scheme is combined with feedback control todevelop the adaptive control laws. Lyapunov based approaches are utilized toprove that the quadrotor UAV's position and yaw angle regulation errors areultimately driven to zero under parametric uncertainties. Simulation resultsare included to demonstrate the performance of the control strategy.
	TO cite this article:Zeng Wei,Xian Bin,Diao Chen, et al. Nonlinear Adaptive Regulation Control of A Quadrotor Unmanned Aerial Vehicle[OL].[29 August 2011] http://en.paper.edu.cn/en_releasepaper/content/4440876


	2. The design of thermal treatment system via fuzzy logic PID
	Song Mingyang,Cai Zhanghao,Bai Jingfeng,Sun Jianqi,Xu X. Lisa
	Electrics, Communication and Autocontrol Technology 25 August 2011
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	Abstract:In this paper, a cryosurgery-hyperthermia system is proposed for taking advantage of the alternated cooling and heating treatment in tumor. A novel control system is proposed to ensure that the thermal system works effectively. First, the tissue temperature around the probe is regulated and kept in a desired range when radio frequency ablation is operated. Sectumor sizeond, precise control of temperature is achieved in hyperthermia treatment using fuzzy logic PID type controller. The results of ex vivo liver experiment demonstrate that this system could provide a rather good performance with the proposed control method.
	TO cite this article:Song Mingyang,Cai Zhanghao,Bai Jingfeng, et al. The design of thermal treatment system via fuzzy logic PID[OL].[25 August 2011] http://en.paper.edu.cn/en_releasepaper/content/4439993

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	3. PD plus Error-dependent Controllers for Robot Manipulators with Uncertain Kinematics
	HUANG Chunqing,XIE Lifen
	Electrics, Communication and Autocontrol Technology 13 June 2011
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	Abstract:In framework of PID controllers, there is only three parameters available to tune, as a result, performance of the resulting system is always limited. As for Cartesian regulation of robot manipulators with uncertain kinematics, a new scheme of PID controllers with error-dependent integral action is proposed. Compare with the traditional PID controllers, the error-dependent integration is employed in this proposed controller to improve performance. It makes better transient performance possible since more tuning parameters are involved to be tuning in this PID structure. Finally, numerical example demonstrates the efficiency of the proposed PID controller by Cartesian space set-point manipulation of two-link robotic manipulator.
	TO cite this article:HUANG Chunqing,XIE Lifen. PD plus Error-dependent Controllers for Robot Manipulators with Uncertain Kinematics[OL].[13 June 2011] http://en.paper.edu.cn/en_releasepaper/content/4432345


	4. Measuring Principle and Structure of New Thrust Flow Transducer
	ZHANG Xiaoyan,QIN Jianmin
	Electrics, Communication and Autocontrol Technology 12 May 2011
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	Abstract:The structure of new thrust flow transducer detecting velocity from the perspective of mechanics is proposed in this paper. Based on the above idea, the author designs the experimental device of new thrust flow transducer. In the process of detecting velocity, the traction cable's pull force which is given by the floating ball in the fluid can be measured by the experimental apparatus. Then the force situations of rigid floating ball are used to calculate fluid thrust on the floating ball. Finally, velocity can be gotten by empirical formula between fluid velocity and fluid thrust on the floating ball. Experimental device of new thrust flow transducer is simple and low cost. It can not only be used for automatic measuring in velocity of rivers in non-freezing conditions, but also be used for automatic measuring in velocity of water under ice sheet of rivers in freezing conditions.
	TO cite this article:ZHANG Xiaoyan,QIN Jianmin. Measuring Principle and Structure of New Thrust Flow Transducer[OL].[12 May 2011] http://en.paper.edu.cn/en_releasepaper/content/4424359


	5. Co-design of event generator and controller for event-triggered control system
	LI Shanbin,XU Bugong
	Electrics, Communication and Autocontrol Technology 27 April 2011
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	Abstract:This paper proposes the preliminary results on the co-design of event generator and controller for event-triggered control system. By applying a quadratic input-to-state stable Lyapunov function, a sufficient condition for the existence of the event-triggered controller and event generator is established using the linear matrix inequalities. We further present a sufficient condition for non-trivial inter-execution time. Using an inverted pendulum mechanism, the effectiveness of the proposed method is illustrated in contrast to a standard linear-quadratic regulator implemented in an event-triggered style.
	TO cite this article:LI Shanbin,XU Bugong. Co-design of event generator and controller for event-triggered control system[J].


	6. Adaptive Sampling Method to Control Energy Consumption in Wireless Networked Control Systems
	Wang Yan,Ji Zhi-cheng
	Electrics, Communication and Autocontrol Technology 12 April 2011
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	Abstract:In wireless network environment, the limited energy of nodes is the main problem affecting control performance and running of system. The relationship between the sampling period and life span is given based on energy consumption analysis. Then an adaptive sampling method is designed to control energy consumption of wireless nodes from both the requirements of control performance and network life span. The life span is predicted online using the known information of remaining energy and consumption rate. Under the constrains of stability and schedulability, the bounds of sampling period are determined. The sampling period is adjusted dynamically according to control error and life span error under a priori rule. So, the life span can be prolonged while the control quality is guaranteed. The effectiveness of the method proposed is validated by a numerical example on the Matlab and Truetime platform.
	TO cite this article:Wang Yan,Ji Zhi-cheng. Adaptive Sampling Method to Control Energy Consumption in Wireless Networked Control Systems[OL].[12 April 2011] http://en.paper.edu.cn/en_releasepaper/content/4421711


	7. Adaptive tracking H∞ control for switched nonlinear systems
	Yu Lei,Fei Shumin
	Electrics, Communication and Autocontrol Technology 12 January 2011
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	Abstract:This paper is concerned to address the adaptive tracking control scheme for switched nonlinear systems with unknown control gain sign. The approach relaxes the hypothesis that the upper bound of function control gain is known constant and the bounds of external disturbance and approximation errors of neural networks are known. RBF neural networks (NNs) are used to approximate unknown functions and a H∞ controller is introduced to enhance robustness. The adaptive updated laws and the admissible switching signals have been derived from switched multiple Lyapunov function method. It's proved that the resulting closed-loop system is asymptotically Lyapunov stable such that the output tracking error performance and H∞ disturbance attenuation level are well obtained. Finally, a simulation example of Forced Duffing systems is given to illustrate the effectiveness of the proposed control scheme and significantly improve the transient performance.
	TO cite this article:Yu Lei,Fei Shumin. Adaptive tracking H∞ control for switched nonlinear systems[OL].[12 January 2011] http://en.paper.edu.cn/en_releasepaper/content/4406136


	8. Nonlinear Disturbance Observer Based Control for Systems with Arbitrary Disturbance Relative Degree
	Yang Jun,Chen Wenhua,Li Shihua,Chen Xisong
	Electrics, Communication and Autocontrol Technology 11 January 2011
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	Abstract:The existing nonlinear disturbance observer based control (NDOBC) is only applicable for the systems whose disturbance relative degree is higher than or equal to the input relative degree. The disturbance attenuation problem of nonlinear systems with arbitrary disturbance relative degree is presented in this paper via a novel NDOBC approach. A systematic method is proposed to design the disturbance compensation gain. It is shown that the disturbance can be eliminated from the output channel in steady-state with the proposed method. The input-to-state stability of the closed-loop system is also investigated rigorously by regarding the disturbance as the input of the augmented system. Simulation example of a missile demonstrates that the proposed method provides an effective way in rejecting disturbances with arbitrary disturbance relative degree.
	TO cite this article:Yang Jun,Chen Wenhua,Li Shihua, et al. Nonlinear Disturbance Observer Based Control for Systems with Arbitrary Disturbance Relative Degree[OL].[11 January 2011] http://en.paper.edu.cn/en_releasepaper/content/4405782


	9. Disturbance Observer Enhanced Model Predictive Control With Experimental Studies
	Chen Xisong,Yang Jun,Guo Cong,Wang Hongchao
	Electrics, Communication and Autocontrol Technology 11 January 2011
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	Abstract:A disturbance observer enhanced model predictive control approach is addressed in this paper for the typical industrial process control systems. The proposed method is applied to a practical level tank system subject to severe disturbances. Both simulation and experimental results show that the proposed method significantly improves the disturbance attenuation property of the model predictive control scheme.
	TO cite this article:Chen Xisong,Yang Jun,Guo Cong, et al. Disturbance Observer Enhanced Model Predictive Control With Experimental Studies[OL].[11 January 2011] http://en.paper.edu.cn/en_releasepaper/content/4405785


	10. Decentralized semi-global stabilization of large-scale nonlinear systems with mixed-order nonlinearities
	ZHAI Junyong
	Electrics, Communication and Autocontrol Technology 09 January 2011
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	Abstract:This paper considers the problem of semi-global decentralized output feedback control of large-scale systems with subsystems interconnected by nonlinearities which are functions of the measurable and unmeasurable. The distinguishing factor of this paper is that the nonlinearities are allowed to have both higher-order and lower-order terms, to which the existing design schemes are inapplicable. A simulation example is provided to illustrate the effectiveness of the proposed stabilizer.
	TO cite this article:ZHAI Junyong. Decentralized semi-global stabilization of large-scale nonlinear systems with mixed-order nonlinearities[OL].[ 9 January 2011] http://en.paper.edu.cn/en_releasepaper/content/4405317

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