To achieve excellent tracking accuracy,a coarse-fine dual-stage control system is chosen for inertially stabilized platform.The coarse stage is a conventional inertially stabilized platform,and the fine stage is a sec...To achieve excellent tracking accuracy,a coarse-fine dual-stage control system is chosen for inertially stabilized platform.The coarse stage is a conventional inertially stabilized platform,and the fine stage is a secondary servo mechanism to control lens motion in the imaging optical path.Firstly,the dual-stage dynamics is mathematically modeled as a coupling multi-input multi-output(MIMO)control system.Then,by incorporating compensation of adaptive model to deal with parameter variations and nonlinearity,a systematic robust H∞control scheme is designed,which can achieve good tracking performance,as well as improve system robustness against model uncertainties.Lyapunov stability analysis confirmed the stability of the overall control system.Finally,simulation and experiment results are provided to demonstrate the feasibility and effectiveness of the proposed control design method.展开更多
针对包含复杂约束条件的约束多目标优化问题(CMOP),在确保算法满足严格约束的同时,有效平衡算法的收敛性与多样性是重大挑战。因此,提出一种双种群双阶段的进化算法(DPDSEA)。该算法引入2个独立进化种群:主种群和副种群,并分别利用可行...针对包含复杂约束条件的约束多目标优化问题(CMOP),在确保算法满足严格约束的同时,有效平衡算法的收敛性与多样性是重大挑战。因此,提出一种双种群双阶段的进化算法(DPDSEA)。该算法引入2个独立进化种群:主种群和副种群,并分别利用可行性规则和改进的epsilon约束处理方法进行更新。在第一阶段,主种群和副种群分别探索约束Pareto前沿(CPF)与无约束Pareto前沿(UPF),从而获取UPF和CPF的位置信息;在第二阶段,设计一种分类方法,根据UPF与CPF的位置对CMOP进行分类,从而对不同类型的CMOP执行特定的进化策略;此外,提出一种随机扰动策略,在副种群进化到CPF附近时,对它进行随机扰动以产生一些位于CPF上的个体,从而促进主种群在CPF上的收敛与分布。把所提算法与6个具有代表性的算法:CMOES(Constrained Multi-objective Optimization based on Even Search)、dp-ACS(dual-population evolutionary algorithm based on Adaptive Constraint Strength)、c-DPEA(DualPopulation based Evolutionary Algorithm for constrained multi-objective optimization)、CAEAD(Constrained Evolutionary Algorithm based on Alternative Evolution and Degeneration)、BiCo(evolutionary algorithm with Bidirectional Coevolution)和DDCMOEA(Dual-stage Dual-population Evolutionary Algorithm for Constrained Multiobjective Optimization)在LIRCMOP和DASCMOP两个测试集上进行实验比较。实验结果表明,DPDSEA在23个问题中取得了15个最优反转世代距离(IGD)值和12个最优超体积(HV)值,展现了DPDSEA在处理复杂CMOP时显著的性能优势。展开更多
基金Project (61174203) supported by the National Natural Science Foundation of China
文摘To achieve excellent tracking accuracy,a coarse-fine dual-stage control system is chosen for inertially stabilized platform.The coarse stage is a conventional inertially stabilized platform,and the fine stage is a secondary servo mechanism to control lens motion in the imaging optical path.Firstly,the dual-stage dynamics is mathematically modeled as a coupling multi-input multi-output(MIMO)control system.Then,by incorporating compensation of adaptive model to deal with parameter variations and nonlinearity,a systematic robust H∞control scheme is designed,which can achieve good tracking performance,as well as improve system robustness against model uncertainties.Lyapunov stability analysis confirmed the stability of the overall control system.Finally,simulation and experiment results are provided to demonstrate the feasibility and effectiveness of the proposed control design method.
基金Supported by National Natural science Foundation-of P.R.Chlna （60474038, 60774022）, Specialized Research Fund for the Doctoral Program of Higher Educatlon（20060004002）
文摘针对包含复杂约束条件的约束多目标优化问题(CMOP),在确保算法满足严格约束的同时,有效平衡算法的收敛性与多样性是重大挑战。因此,提出一种双种群双阶段的进化算法(DPDSEA)。该算法引入2个独立进化种群:主种群和副种群,并分别利用可行性规则和改进的epsilon约束处理方法进行更新。在第一阶段,主种群和副种群分别探索约束Pareto前沿(CPF)与无约束Pareto前沿(UPF),从而获取UPF和CPF的位置信息;在第二阶段,设计一种分类方法,根据UPF与CPF的位置对CMOP进行分类,从而对不同类型的CMOP执行特定的进化策略;此外,提出一种随机扰动策略,在副种群进化到CPF附近时,对它进行随机扰动以产生一些位于CPF上的个体,从而促进主种群在CPF上的收敛与分布。把所提算法与6个具有代表性的算法:CMOES(Constrained Multi-objective Optimization based on Even Search)、dp-ACS(dual-population evolutionary algorithm based on Adaptive Constraint Strength)、c-DPEA(DualPopulation based Evolutionary Algorithm for constrained multi-objective optimization)、CAEAD(Constrained Evolutionary Algorithm based on Alternative Evolution and Degeneration)、BiCo(evolutionary algorithm with Bidirectional Coevolution)和DDCMOEA(Dual-stage Dual-population Evolutionary Algorithm for Constrained Multiobjective Optimization)在LIRCMOP和DASCMOP两个测试集上进行实验比较。实验结果表明,DPDSEA在23个问题中取得了15个最优反转世代距离(IGD)值和12个最优超体积(HV)值,展现了DPDSEA在处理复杂CMOP时显著的性能优势。
