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Adaptive dynamic inversion robust control for BTT missile based on wavelet neural network

Adaptive dynamic inversion robust control for BTT missile ba...

MIPPR 2009 - Pattern Recognition and Computer Vision: 6th International Symposium on Multispectral image processing and Pattern Recognition

作者： Li, Chuanfeng Wang, Yongji Deng, Zhixiang Wu, Hao Department of Control Science and Engineering Huazhong University of Science and Technology 1037 Luoyu Road Wuhan 430074 China Luoyang Institute of Science and Technology 90 Wangcheng Avenue Luoyang 471023 China Key Laboratory of Ministry of Education for Image Processing and Intelligent Control 1037 Luoyu Road Wuhan 430074 China

ISBN: (纸本)9780819478078

A new nonlinear control strategy incorporated the dynamic inversion method with wavelet neural networks is presented for the nonlinear coupling system of Bank-to-Turn(BTT) missile in reentry phase. The basic control law is designed by using the dynamic inversion feedback linearization method, and the online learning wavelet neural network is used to compensate the inversion error due to aerodynamic parameter errors, modeling imprecise and external disturbance in view of the time-frequency localization properties of wavelet transform. Weights adjusting laws are derived according to Lyapunov stability theory, which can guarantee the boundedness of all signals in the whole system. Furthermore, robust stability of the closed-loop system under this tracking law is proved. Finally, the six degree-of-freedom(6DOF) simulation results have shown that the attitude angles can track the anticipant command precisely under the circumstances of existing external disturbance and in the presence of parameter uncertainty. It means that the dependence on model by dynamic inversion method is reduced and the robustness of control system is enhanced by using wavelet neural network(WNN) to reconstruct inversion error on-line. © 2009 Copyright SPIE - The International Society for Optical Engineering.

关键词： Lyapunov functions

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Analysis of second order motion

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Moshi Shibie yu Rengong Zhineng/Pattern Recognition and Artificial Intelligence 2009年第3期22卷 344-348页

作者： Sun, Bin Sang, Nong Li, Zheng Zheng, Qing-Qing State Education Commission Key Laboratory for Image Processing and Intelligent Control Institute of Pattern Recognition and Artificial Intelligence Huazhong Univ. of Sci. and Technol. Wuhan 430074 China

The study of the second order motion in biological vision is a new source of inspiration for algorithms and research directions in computer vision. In this paper, the second order motion can be divided into three typical group according to the modulation types: spatial modulate motion, temporal modulate motion and spatio-temporal modulate motion. Experiments are conducted on the first order motion perception based on correlation model and the second order motion perception by correlation model preceded with a nonlinear process called texture grabber. The computational results are consistent with the previous suggestion that the second order motions are processed by nonlinear system.

关键词： Modulation

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Decentralized adaptive stabilization of stochastic nonlinear interconnected systems by state feedback

Decentralized adaptive stabilization of stochastic nonlinear...

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2009 4th IEEE Conference on Industrial Electronics and Applications, ICIEA 2009

作者： Fan, Huijin Xie, Wenxiang Key Laboratory of Image Processing and Intelligent Control Dept. Control Science and Engineering Huazhong University of Science and Technology 430074 China Seagate Technology International Singapore Science Park 63 The Fleming Science Park Drive Singapore 118249 Singapore

ISBN: (纸本)9781424428007

This paper studies a class of stochastic nonlinear interconnected systemswith unknown parameters involved. By employing the stochastic Lyapunov-like theorem and the back-stepping design technique, a decentralized controller and parameter adaptive law are proposed by state-feedback, which can globally stabilize the overall system asymptotically in probability. © 2009 IEEE.

关键词： State feedback

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Skeleton-based fast path planning for UAV

Skeleton-based fast path planning for UAV

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MIPPR 2009 - Remote Sensing and GIS Data processing and Other Applications: 6th International Symposium on Multispectral image processing and Pattern Recognition

作者： Liu, Xin Zhou, Chengping Ding, Mingyue Cai, Chao Institute for Pattern Recognition and Artificial Intelligence National Lab. for Multi-spectral Information Processing Technologies Huazhong University of Science and Technology Wuhan 430074 China College of Life Science and Technology Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan 430074 China

ISBN: (纸本)9780819478092

A new path planning method for UAV in static workspace is presented. The method can find a nearly optimal path in short time which satisfies the UAV kinematic constraints. The method makes use of the skeletons to construct the graph of the planning space considering the configuration of the obstacles and utilizes the graph to find a shortest collision-free path, and a novel technique is utilized to convert the free path into a feasible path. The method can be applied to different applications and easy to be implemented. Experimental results showed that the path planning can be done in a fraction of second on a contemporary workstation (2-3 seconds) under the condition of satisfying the kinematic constraints. © 2009 Copyright SPIE - The International Society for Optical Engineering.

关键词： Motion planning

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A point-pattern matching method based on maximal subset of one-to-one mapping

A point-pattern matching method based on maximal subset of o...

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MIPPR 2009 - Pattern Recognition and Computer Vision: 6th International Symposium on Multispectral image processing and Pattern Recognition

作者： Hu, Jing Zhang, Tian-Xu Institute for Pattern Recognition and AI Hua Zhong University of Science and Technology Wuhan 430074 China Key Lab. of Education Ministry for Image Processing and Intelligent Control Hua Zhong University of Science and Technology Wuhan 430074 China

ISBN: (纸本)9780819478078

This paper presents a new affine registration approach for planar point pattern matching. A process of parameter space clustering is implemented to confirm a one-to-one mapping between the maximal subsets of feature point sets in images. For a best performance, a coarse parameter space and a fine parameter space are used for vectors comparison. Experiments show that the method can produce positive results from a small number of feature points and intensive noise. © 2009 Copyright SPIE - The International Society for Optical Engineering.

关键词： Affine transforms

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Adaptive Synchronization between Two Different Complex Networks with Time-Varying Delay Coupling

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Chinese Physics Letters 2009年第6期26卷 61-64页

作者：陈建芮焦李成吴建设王晓华 Key Laboratory of Intelligent Perception and Image Understanding of Ministry of Education of China Institute of Intelligence Information Processing Xidian University Xi'an 710071 College of Science Inner Mongolia University of Technology Inner Mongolia 010051

A new general network model for two complex networks with time-varying delay coupling is presented. Then we investigate its synchronization phenomena. The two complex networks of the model differ in dynamic nodes, the number of nodes and the coupling connections. By using adaptive controllers, a synchronization criterion is derived. Numerical examples are given to demonstrate the effectiveness of the obtained synchronization criterion. This study may widen the application range of synchronization, such as in chaotic secure communication.

关键词： gamma-ray bursts gamma-rays relativity

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Fast on-ship route planning using improved sparse A-star algorithm for UAVs

Fast on-ship route planning using improved sparse A-star alg...

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MIPPR 2009 - Medical Imaging, Parallel processing of images, and Optimization Techniques: 6th International Symposium on Multispectral image processing and Pattern Recognition

作者： Yang, Xin Ding, Mingyue Zhou, Chengping Cai, Chao Yu, Qi Shao, Shuai Institute for Pattern Recognition and Artificial Intelligence State Key Laboratory for Multi-spectral Information Processing Technologies Huazhong University of Science and Technology Wuhan 430074 China College of Life Science and Technology Image Processing and Intelligence Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan 430074 China

ISBN: (纸本)9780819478085

This paper presented improved Sparse A-Star Search (SAS) algorithm to pursue a fast route planner for Unmanned Aerial Vehicles (UAVs) on-ship applications. Our approach can quickly produce 3-D trajectories composed by a set of successive navigation points from certain known initial locations to predetermined target locations. The result routes are not only ensuring collision avoidance with the environmental obstacles, but also satisfying specific routes constraints and objectives. The experiment results demonstrated the feasibility of the method, which makes our route planner be more useful in real systems. © 2009 Copyright SPIE - The International Society for Optical Engineering.

关键词： Ships

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image Compression with Downsampling and Overlapped Transform at Low Bit Rates

Image Compression with Downsampling and Overlapped Transform...

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International Conference on image processing

作者： Jiaji Wu Yan Xing Guangming Shi Licheng Jiao Key Laboratory of Intelligent Perception and Image Understanding of Ministry of Education of China Institute of Intelligent Information Processing Xidian University

ISBN: (纸本)9781424456536;9781424456543

This paper proposes an image coding method based on adaptive downsampling which not only uses the pixel redundancy but also considers visual redundancy. At the encoder side, codec adaptively chooses some smooth regions of the original image to downsample, and then overlapped transform with selectivity, block DCT and adaptive-shape DCT (SA-DCT) are used against the image after being downsampled. For the incomplete transformed image, OB-SPECK is adopted to code. At the decoder side, in order to reduce the computational complexity, we use the simple cubic interpolation which not only is very suitable to the downsampled regions but also enhances greatly the real time of this coding system. Experimental results show the proposed method outperforms JPEG2000, SPECK, SPIHT, and LT+SPECK at low bit rates.

关键词： Adaptive downsampling Interpolation image compression Visual redundancy Bit rate image compression Data compression downsampling Interpolation image coding method original image Transform

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Path planning for UAV based on quantum-behaved particle swarm optimization

Path planning for UAV based on quantum-behaved particle swar...

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MIPPR 2009 - Medical Imaging, Parallel processing of images, and Optimization Techniques: 6th International Symposium on Multispectral image processing and Pattern Recognition

作者： Fu, Yangguang Ding, Mingyue Zhou, Chengping Cai, Chao Sun, Yangguang Institute for Pattern Recognition and Artificial Intelligence State Key Laboratory for Multi-spectral Information Processing Technologies Huazhong University of Science and Technology Wuhan 430074 China College of Life Science and Technology Image Processing and Intelligence Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan 430074 China

ISBN: (纸本)9780819478085

Based on quantum-behaved particle swarm optimization (QPSO), a novel path planner for unmanned aerial vehicle (UAV) is employed to generate a safe and flyable path. The standard particle swarm optimization (PSO) and quantum-behaved particle swarm optimization (QPSO) are presented and compared through a UAV path planning application. Every particle in swarm represents a potential path in search space. For the purpose of pruning the search space, constraints are incorporated into the pre-specified cost function, which is used to evaluate whether a particle is good or not. As the system iterated, each particle is pulled toward its local attractor, which is located between the personal best position (pbest) and the global best position (gbest) based on the interaction of particles' individual searches and group's public search. For the sake of simplicity, we only consider planning the projection of path on the plane and assume threats are static instead of moving. Simulation results demonstrated the effectiveness and feasibility of the proposed approach. © 2009 Copyright SPIE - The International Society for Optical Engineering.

关键词： Motion planning

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Texture image segmentation using Brushlet-domain hidden Markov models

Texture image segmentation using Brushlet-domain hidden Mark...

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MIPPR 2009 - Remote Sensing and GIS Data processing and Other Applications: 6th International Symposium on Multispectral image processing and Pattern Recognition

作者： Liu, Fang Yang, Kai Hao, Hongxia Hou, Biao Zhong, Hua School of Computer Science and Technology Xidian University Xi'an Shanxi 710071 China Intelligent Perception and Image Understanding Key Lab. of Ministry of Education of China Xi'an Shanxi 710071 China Intelligent Information Processing Laboratory Xidian University Xi'an Shanxi 710071 China

ISBN: (纸本)9780819478092

By researching the Brushlet domain coefficients of texture images, we found that the distribution of the magnitudes of Brushlet domain coefficients roughly meet rayleigh distribution. And there are correlations between Brushlet coefficients in adjacent scales. Therefore, Rayleigh Mixture Model (RMM) is used to characterize the statistics of the magnitudes of Brushlet coefficients. To capture the inter-scale persistence of Brushlet coefficients, a "four to four" models with markov property is adopted in this paper. On the basis, by combining with the multi-scale Bayesian segmentation method, we propose a multiscale Bayesian texture segmentation algorithm that is based on a Brushlet domain hidden Markov tree (BruHMT) model. The experiment results indicate that our method is feasible and effective. Especially for coarse texture, our method is superior than texture segmentation method using Wavelet domain hidden Markov tree (WHMT) model. © 2009 Copyright SPIE - The International Society for Optical Engineering.

关键词： Hidden Markov models

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