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Event-triggered consensus of non-linear multi-agent systems with sampling data and time delay

IET control THEORY AND APPLICATIONS 2017年第11期11卷 1715-1725页

作者： Su, Housheng Wang, Zhaojing Song, Zhuoyue Chen, Xuan Huazhong Univ Sci & Technol Guangdong HUST Ind Technol Res Inst Image Proc & Intelligent Control Key LabEduc Min Guangdong Prov Key Lab Digital Mfg EquipmentSch Wuhan 430074 Peoples R China Beijing Inst Technol Sch Automat State Key Lab Intelligent Control & Decis Complex Beijing 100081 Peoples R China

The sampled-data based event-triggered strategy for consensus of leader-following multi-agent systems with the input-delay and non-linear dynamics is studied. A novel event-triggered transmission strategy is proposed, where the controller of each agent updates and the sampled-data of each agent transmits to its neighbours' only at the agent's own triggering time instants. The measurement errors are defined based on the state information of the local neighbourhood and leader to design the event triggering scheme, and this scheme reduces the number of event triggering times, the controller updating and communications between agents. Moreover, in the proposed event triggered control strategy, the Zeno-behaviour is avoided. The control protocol and event triggering scheme can be simply designed by solving an LMI condition to achieve leader-following consensus asymptotically. The effectiveness of the proposed results is demonstrated via a numerical example.

关键词： sampled data systems delays nonlinear control systems multivariable systems linear matrix inequalities event-triggered consensus nonlinear multiagent systems sampling data time delay sampled-data based event-triggered strategy leader-following multiagent systems nonlinear dynamics input-delay dynamics event-triggered transmission strategy control protocol LMI condition asymptotic leader-following consensus

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image quality assessment based on multi-channel regional mutual information

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AEU-INTERNATIONAL JOURNAL OF ELECTRONICS AND COMMUNICATIONS 2012年第9期66卷 784-787页

作者： Li, Jing Wu, Kaizhi Zhang, Xuming Ding, Mingyue Huazhong Univ Sci & Technol Sch Life Sci & Technol Image Proc & Intelligent Control Key Lab Educ Minist China Wuhan 430074 Peoples R China

In this paper, a novel method based on multi-channel regional mutual information (RMI) is proposed to assess image quality. In the proposed method, the wavelet transform is firstly used to decompose the image into different frequency subbands to calculate RMI values. Then multi-channel RMI is obtained by weighted sum of RMI values in the various wavelet frequency subbands. The performance of the proposed algorithm is compared with that of such universal assessment methods as peak of signal-to-noise ratio (PSNR) and structure similarity (SSIM). Experimental results demonstrate that the proposed method is highly effective for evaluating image quality and it outperforms the assessment methods based on PSNR and SSIM. (C) 2012 Published by Elsevier GmbH.

关键词： image quality assessment Mutual information PSNR SSIM

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SVM based ultrasonic medicine image diagnosis

SVM based ultrasonic medicine image diagnosis

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Conference on Medical image Acquisition and processing

作者： Zhang, J Liu, XM Liu, J Peng, FY Tian, JW Wang, Y Zhang, WJ Xie, MX Huazhong Univ Sci & Technol Key Lab Image Proc & Intelligent Control Wuhan 430074 Peoples R China

ISBN: (纸本)0819442771

The technique of support vector machines (SVM's) has been used as a new method for solving classification, regression, time series prediction and function estimation problems with many successful applications. In this paper, we use SVM to solve the problem of classification for ultrasonic medicine image. We use statistical characteristics of the interesting part in an ultrasonic image to aid a doctor to give a correct diagnosis. The procedure is: first, to extract a number of small sampling regions in the interesting part, second, to calculate a series of moments about those sampling regions;third, to decide whether the interesting part of the organ is normal or abnormal according to the analyses of the series of moments based on SVM. SVM's structural risk minimization principle is the guarantee that the diagnosis has the minimum mistake probability. The diagnosis based on SVM is optimal from the viewpoint of structural risk minimization principle. It is hoped that the results presented here will be helpful to the diagnosis based on ultrasonic medicine image.

关键词： SVM ultrasonic medical image classification

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Towards fast embedded moving horizon state-of-charge estimation for lithium-ion batteries

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JOURNAL OF ENERGY STORAGE 2024年 78卷

作者： Wan, Yiming Du, Songtao Yan, Jiayu Wang, Zhuo Huazhong Univ Sci & Technol Engn Res Ctr Autonomous Intelligent Unmanned Syst Sch Artificial Intelligence & Automat Key Lab Image Proc & Intelligent ControlMinist Ed Wuhan 430074 Hubei Peoples R China

For state-of-charge (SOC) estimation with high precision, moving horizon estimation (MHE) has recently emerged as a competitive alternative to various Kalman filters or observers due to its significantly improved accuracy and robustness. However, MHE demands considerably higher computational complexity, preventing its deployment on a low-cost embedded microcontroller. To address this challenge, we propose a fast moving horizon SOC estimation algorithm to retain the benefits of MHE at a vastly reduced computational cost. In particular, we consider joint SOC and parameter estimation for an SOC-dependent equivalent circuit model subject to model mismatch. The proposed fast joint MHE (jMHE) algorithm performs a fixed number of Gauss-Newton (GN) iterations to approximate the fully converged solution. At each iteration, the GN Hessian matrix is factorized by exploiting its block tridiagonal structure to construct computationally efficient forward-backward recursions. To further speed up computations, another fast jMHE algorithm wtih an Event-Triggered Relinearization strategy (jMHE-ETR) is proposed to avoid refactorizing the GN Hessian matrix at each iteration. Using experimental datasets under different operating conditions, it is verified on both laptop and Raspberry Pi microcontroller that compared to the conventional optimal MHE solved with an off-the-shelf solver, the proposed fast jMHE and jMHE-ETR algorithms both have a slight loss of performance (still significantly better than extended Kalman filtering) while reducing its computational cost by an order of magnitude.

关键词： State-of-charge estimation Moving horizon estimation Real-time computation Lithium-ion battery

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Modeling of McKibben Pneumatic Artificial Muscles Using Optimized Echo State Networks

Modeling of McKibben Pneumatic Artificial Muscles Using Opti...

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8th World Congress on intelligent control and Automation (WCICA)

作者： Zhou, Hanying Wang, Yongji Xing, Kexin Huazhong Univ Sci & Technol Dept Control Sci & Engn Key Lab Image Proc & Intelligent Control Wuhan Peoples R China

ISBN: (纸本)9781424467129

In conventional techniques for modeling Pneumatic artificial muscle, there are difficulties such as poor knowledge of the process, inaccurate process or complexity of the resulting mathematical model. Trying to solve these problems, this study investigates the method of establishing the model using a novel network-Echo State Network (ESN). We introduce the mechanism of this net and apply it to our modeling work. The relevant parameters of the net were optimized using Particle Swarm Optimization (PSO). Then we get the simulation results which reveal that it can get quite satisfactory results.

关键词： McKibben Artificial Muscles Echo State Network Modeling

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SUSAN controlled decay parameter adaption for non-local means image denoising

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ELECTRONICS LETTERS 2013年第13期49卷 807-+页

作者： Zhan, Y. Zhang, X. M. Ding, M. Y. Huazhong Univ Sci & Technol Educ Minist China Sch Life Sci & Technol Key Lab Image Proc & Intelligent Control Wuhan 430074 Peoples R China

The non-local means (NLM) method explores self-similarities in images for noise removal. The traditional NLM (TNLM) method computes pixel similarity using the globally fixed decay parameter. However, a fixed decay parameter for the whole image makes it difficult to ensure that the TNLM method can restore both edge pixels and non-edge pixels effectively. To address this problem, the SUSAN controlled NLM (SNLM) method is proposed to adaptively tune the decay parameter for each image pixel based on the SUSAN edge response. Extensive simulations demonstrate that the SNLM method outperforms several state-of-the-art NLM methods in terms of noise reduction and detail preservation.

关键词： PIXELS SIGNAL denoising STANDARD deviations NEWTON-Raphson method image processing

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Exponential stability of impulsive positive systems with mixed time-varying delays

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IET control Theory and Applications 2014年第15期8卷 1537-1542页

作者： Wang, Yan-Wu Zhang, Ji-Shi Liu, Meng School of Automation Huazhong University of Science and Technology Wuhan430074 China School of Software Henan University Kaifeng475004 China Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China China

This study addresses the problem of exponential stability for a class of impulsive positive systems with mixed time-varying delays. A delayed impulsive positive system model is introduced for the first time and a necessary and sufficient condition guaranteeing the positivity of this kind of system is proposed. By using a copositive Lyapunov-Krasovskii functional and the average impulsive interval method, a sufficient criterion of global exponential stability for delayed impulsive positive systems is established in terms of linear programming problems. A numerical example is given to show the effectiveness of the proposed method. © 2014 The Institution of Engineering and Technology.

关键词： Lyapunov functions

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Observer-based adaptive tracking control of rigid-link flexible-joint robot manipulators

Observer-based adaptive tracking control of rigid-link flexi...

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作者： Liu, Chao Xiang, Xianbo Poignet, Philippe France Key Laboratory of Education Ministry for Image Processing and Intelligent Control Huazhong University of Science and Technology China

ISBN: (纸本)9787894631046

Joint flexibility is an important factor to consider in the robot control design if high performance is expected for the robot manipulators. Research works on control of rigid-link flexible-joint (RLFJ) robot in literature have assumed that the kinematics of the robot is known exactly. There have been few results that can deal with the kinematics uncertainty in RLFJ robot. In this paper, we propose an adaptive tracking control method which can deal with the kinematics uncertainty and uncertainties in both link and actuator dynamics of the RLFJ robot system. Nonlinear observers are designed to avoid accelerations measurement due to the fourth-order overall system dynamics. Asymptotic stability of the closed-loop system is shown and sufficient conditions are presented to guarantee the stability.

关键词： Asymptotic stability

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SAR image despeckling based on edge detection and nonsubsampled second generation bandelets

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Journal of Systems Engineering and Electronics 2009年第3期20卷 519-526页

作者： Zhang Wenge~(1,2),Liu Fang~(1,2),Jiao Licheng~(2,3)& Gao Xinbo~(2,3) 1.School of Computer Science and Technology,Xidian Univ.,Xi’an 710071,P.R.China 2.key lab.of intelligent Perception and image Understanding of Ministry of Education of China,Xi’an 710071,P.R.China 3.Inst,of intelligent Information processing,Xidian Univ.,Xi’an 710071,P.R.China School of Computer Science and Technology Xidian Univ. Xi'an 710071 P. R. China Key Lab. of Intelligent Perception and Image Understanding of Ministry of Education of China Xi'an 710071 P. R. China Key Lab. of Intelligent Perception and Image Understanding of Ministry of Education of China Xi'an 710071 P. R. China Inst. of Intelligent Information Processing Xidian Univ. Xi'an 710071 P. R. China

To preserve the sharp features and details of the synthetic aperture radar （SAR） image effectively when despeckling, a despeckling algorithm with edge detection in nonsubsampled second generation bandelet transform （NSBT） domain is proposed. First, the Canny operator is utilized to detect and remove edges from the SAR image. Then the NSBT which has an optimal approximation to the edges of images and a hard thresholding rule are used to approximate the details while despeckling the edge-removed image. Finally, the removed edges are added to the reconstructed image. As the edges axe detected and protected, and the NSBT is used, the proposed algorithm reaches the state-of-the-art effect which realizes both despeckling and preserving edges and details simultaneously. Experimental results show that both the subjective visual effect and the mainly objective performance indexes of the proposed algorithm outperform that of both Bayesian wavelet shrinkage with edge detection and Bayesian least square-Gaussian scale mixture （BLS-GSM）.

关键词： computer image processing synthetic aperture radar speckle edge detection nonsubsampled second generation bandelet transform Canny operator threshold shrinkage.

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Evidence supporting measure of similarity for reducing the complexity in information fusion

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INFORMATION SCIENCES 2011年第10期181卷 1818-1835页

作者： Li, Xinde Dezert, Jean Smarandache, Florentin Huang, Xinhan Southeast Univ Key Lab Measurement & Control CSE Sch AutomatMinst Educ Nanjing 210096 Peoples R China Off Natl Etud & Rech Aerosp F-92320 Chatillon France Univ New Mexico Chair Math Gallup NM 87301 USA Univ New Mexico Dept Sci Gallup NM 87301 USA Huazhong Univ Sci & Technol Image Proc & Intelligent Control Key Lab Image Proc & Intelligent Control Key Lab Educ Minist China Wuhan 430074 Peoples R China

This paper presents a new method for reducing the number of sources of evidence to combine in order to reduce the complexity of the fusion processing. Such a complexity reduction is often required in many applications where the real-time constraint and limited computing resources are of prime importance. The basic idea consists in selecting. among all sources available. only a subset of sources of evidence to combine. The selection is based on an evidence supporting measure of similarity (ESMS) criterion which is an efficient generic tool for outlier sources identification and rejection. The ESMS between two sources of evidence can be defined using several measures of distance following different lattice structures. In this paper, we propose such four measures of distance for ESMS and we present in details the principle of Generalized Fusion Machine (GEM). Then we apply it experimentally to the real-time perception of the environment with a mobile robot using sonar sensors. A comparative analysis of results is done and presented in the last part of this paper. (C) 2010 Elsevier Inc. All rights reserved.

关键词： Information fusion Belief function Complexity reduction Robot perception DSmT Measure of similarity Distance Lattice

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