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	1. Guidance Law Design Based on Integral Sliding Mode Control
	ZHANG Zhen-Xing,LI Shihua,LUO Sheng
	Electrics, Communication and Autocontrol Technology 11 December 2012
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	Abstract:Reviews: The terminal guidance problem for missile intercepting maneuvering targets is developed. Based on integral sliding mode (ISM) control method, a novel guidance law is designed. Regarding the target acceleration as unknown bounded disturbance, a nonlinear ISM guidance law is introduced. The obtained guidance law guarantees the line-of-sight (LOS) angular rate and LOS angle a finite-time convergence characteristics. Simulation comparison results demonstrate the effectiveness of the presented method.
	TO cite this article:ZHANG Zhen-Xing,LI Shihua,LUO Sheng. Guidance Law Design Based on Integral Sliding Mode Control[OL].[11 December 2012] http://en.paper.edu.cn/en_releasepaper/content/4501107


	2. Research on Compressed EKF Based SLAM Algorithm for Unmanned Underwater Vehicle
	WANG Hongjian,LI Cun,LV Hongli,Chen Xinghua
	Electrics, Communication and Autocontrol Technology 11 September 2012
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	Abstract:The Extend Kalman Filter based algorithm for simultaneous localization and mapping cannot satisfy the requirement of real time map updating because of the increasing number of landmarks and the heavy calculating cost while AUV working for long time endurance. The Compressed EKF based SLAM is introduced in this paper. And the method of map management and the local map switch strategy are addressed, which divide the AUV navigating area into several local sub-maps. The navigation error calculating based on landmarks in sub-map is completed in local area by using Extend Kalman filter, and the global map updating is done only when the condition satisfied the switch rule of the sub-map. Finally the CEKF-SLAM based navigating method is tested with the trial data, and by comparing with the dead reckoning navigating result, the test results show that the navigation error of CEKF-SLAM algorithm is less than that of dead reckoning algorithm, and on the same time, the former reduces the calculation cost for AUV navigation.
	TO cite this article:WANG Hongjian,LI Cun,LV Hongli, et al. Research on Compressed EKF Based SLAM Algorithm for Unmanned Underwater Vehicle[OL].[11 September 2012] http://en.paper.edu.cn/en_releasepaper/content/4489091

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	3. Variant Scheme of Adaptive Tracking Control for Robot Manipulators
	HUANG Chunqing
	Electrics, Communication and Autocontrol Technology 29 October 2011
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	Abstract: This paper develops a variant scheme of adaptive algorithm for tacking control of robot manipulators, which includes the traditional adaptive algorithm as a special case. Asymptotic stability of the resulting closed-loop system is guaranteed. Simulation results show the improved transient performance in respect to the counterpart of the traditional adaptive.
	TO cite this article:HUANG Chunqing. Variant Scheme of Adaptive Tracking Control for Robot Manipulators[OL].[29 October 2011] http://en.paper.edu.cn/en_releasepaper/content/4447321


	4. Disjunctive arc based genetic algorithm for the resource-constrained project scheduling problem
	FANG Chen,WANG Ling,MU Chundi
	Electrics, Communication and Autocontrol Technology 26 September 2011
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	Abstract:In this paper, a disjunctive arc based genetic algorithm (DAGA) is proposed to solve the resource-constrained project scheduling problem (RCPSP). The arc matrixes (AMs) representation is proposed for disjunctive arc based approach. The disjunctive arc based schedule generating scheme (DASGS) is developed to solve the resource constraints by adding extra precedence constraints into the AoN network so as to transform an AMs to a feasible schedule. Since the traditional crossover and mutation can not be operated on the AMs representation, the new crossover and mutation based on the AMs are also proposed for the DAGA. Simulation results based on PSPLIB demonstrate the effectiveness of the proposed DAGA.
	TO cite this article:FANG Chen,WANG Ling,MU Chundi. Disjunctive arc based genetic algorithm for the resource-constrained project scheduling problem[OL].[26 September 2011] http://en.paper.edu.cn/en_releasepaper/content/4444203


	5. 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


	6. 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


	7. 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


	8. 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


	9. 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


	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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