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3rd International Conference on systems and Informatics (ICSAI)

作者： Zhang, Yinyan Wu, Sheng Zhang, Deyang Li, Wan Zhang, Yunong Sun Yat Sen Univ Sch Informat Sci & Technol Guangzhou 510006 Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Foshan 528300 Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China

ISBN: (纸本)9781509055210

Motors are fundamental and key components in the process of driving robotic arms. In this paper, the outputcontrol problem of a robot 1-link-plus-motor-dynamics (1LpMD) system is investigated and solved through the Zhang dynamics (ZD) method. To lay a basis for the design of a controller, a direct derivative method (DDM) is presented to transform the description of the system from ordinary differential equations into a new four-state space representation. Then, we design a ZD controller for the output control of the robot 1LpMD system with the physical significance of the ZD control method illustrated in detail. The theoretical analysis on the performance of the proposed ZD controller is also presented with a concise proof. Simulation and comparison results are developed and shown to substantiate the efficacy of the proposed ZD controller for the output control of the robot 1LpMD system.

关键词： Output control Zhang dynamics direct derivative method four-state space representation ZD controller

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Simple Effective Zhang-Dynamics Stabilization control of the 4th-Order Hyper-Chaotic Lu System With One Input 12

Simple Effective Zhang-Dynamics Stabilization Control of the...

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12th International Conference on Natural Computation, Fuzzy systems and Knowledge Discovery (ICNC-FSKD)

作者： Zhang, Yunong Qiao, Tianjian Zhang, Deyang Tan, Hongzhou Liang, Dong Sun Yat Sen Univ Sch Informat Sci & Technol Guangzhou 510006 Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Foshan 528300 Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China

ISBN: (纸本)9781509040933

This paper aims at achieving the stabilization control of hyper-chaotic Lu system with only one control input. By employing Zhang dynamics (ZD) method, which is a simple and effective method for designing control input, the expression of the desired controller is thus obtained. This easy-to-design controller, synthesized by following specific steps of ZD design method, is able to stabilize the 4th-order hyper-chaotic Lu system to the zero equilibrium steadily. Simple engineering-type theoretical analysis is given. In addition, simulations are conducted to testify the efficacy of the presented ZD controller in stabilizing the hyperchaotic Lu system.

关键词： Lu system Zhang neural dynamics hyperchaotic Lu system stabilization control

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Optimal Parameter Value of Zhang Equivalence for MVN Redundancy Resolution at Velocity and Acceleration Levels 12

Optimal Parameter Value of Zhang Equivalence for MVN Redunda...

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12th International Conference on Natural Computation, Fuzzy systems and Knowledge Discovery (ICNC-FSKD)

作者： Zhang, Yunong Yan, Xiaogang Zhang, Yinyan Chen, Dechao Tan, Hongzhou Sun Yat Sen Univ Sch Informat Sci & Technol Guangzhou 510006 Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Foshan 528300 Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China

ISBN: (纸本)9781509040933

The equivalent relationship of two general scheme formulations at joint velocity and joint acceleration levels is established in this paper for robotic redundancy resolution, i.e., the so-called Zhang equivalence (ZE). As one representative case, ZE of the minimum velocity norm (MVN) type (i.e., MVN-type ZE) is further investigated for redundancy resolution. Moreover, computer simulations together with illustrative numerical experiments based on the widely-used robot manipulator PUMA560 show the phenomenon that an optimal equivalence value of the equivalent parameter exists within effective range from two different perspectives of equivalence;and then reveal the optimal value of the equivalent parameter in two situations from such perspectives.

关键词： Optimal parameter value Zhang equivalence (ZE) different levels MVN-type ZE redundancy resolution

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Integration-Enhanced Zhang Neural Network for Real-Time-Varying Matrix Inversion in the Presence of Various Kinds of Noises

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IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING systems 2016年第12期27卷 2615-2627页

作者： Jin, Long Zhang, Yunong Li, Shuai Sun Yat Sen Univ Sch Informat Sci & Technol Guangzhou 510006 Guangdong Peoples R China SYSU Carnegie Mellon Univ CMU Shunde Int Joint Re Shunde 528300 Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China Hong Kong Polytech Univ Dept Comp Hong Kong Hong Kong Peoples R China

Matrix inversion often arises in the fields of science and engineering. Many models for matrix inversion usually assume that the solving process is free of noises or that the denoising has been conducted before the computation. However, time is precious for the real-time-varying matrix inversion in practice, and any preprocessing for noise reduction may consume extra time, possibly violating the requirement of real-time computation. Therefore, a new model for time-varying matrix inversion that is able to handle simultaneously the noises is urgently needed. In this paper, an integration-enhanced Zhang neural network (IEZNN) model is first proposed and investigated for real-time-varying matrix inversion. Then, the conventional ZNN model and the gradient neural network model are presented and employed for comparison. In addition, theoretical analyses show that the proposed IEZNN model has the global exponential convergence property. Moreover, in the presence of various kinds of noises, the proposed IEZNN model is proven to have an improved performance. That is, the proposed IEZNN model converges to the theoretical solution of the time-varying matrix inversion problem no matter how large the matrix-form constant noise is, and the residual errors of the proposed IEZNN model can be arbitrarily small for time-varying noises and random noises. Finally, three illustrative simulation examples, including an application to the inverse kinematic motion planning of a robot manipulator, are provided and analyzed to substantiate the efficacy and superiority of the proposed IEZNN model for real-time-varying matrix inversion.

关键词： Integration-enhanced Zhang neural network (IEZNN) random noise real-time-varying matrix inversion residual error theoretical analysis

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Complex ZNN and GNN Models for Time-Varying Complex Quadratic Programming Subject to Equality Constraints 12

Complex ZNN and GNN Models for Time-Varying Complex Quadrati...

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12th World Congress on Intelligent control and Automation (WCICA)

作者： Ding, Sitong Yang, Min Mao, Mingzhi Xiao, Lin Zhang, Yunong Sun Yat Sen Univ Sch Informat Sci & Technol Guangzhou 510006 Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Foshan 528300 Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China

ISBN: (纸本)9781467384148

Zhang neural network (ZNN) has shown powerful abilities to solve a great variety of time-varying problems in the real domain. In this paper, to solve the time-varying complex quadratic programming (QP) problems in the complex domain, a new type of complex-valued ZNN is further developed and investigated. Specifically, by defining two different complex-valued error functions (termed Zhang functions), two complex ZNN models are proposed and investigated for solving the time-varying complex QP subject to complex-valued linear-equality constraints. It is theoretically proved that such two complex ZNN models globally and exponentially converge to the time-varying theoretical optimal solution of the time-varying complex QP. For comparison, the conventional gradient neural network (GNN) is developed from the real to the complex domains and then is exploited for solving the time-varying complex QP problems. Computational simulation results verify the efficacy of complex ZNN models for solving the time-varying complex QP problems. Besides, the superiorities of complex ZNN models are substantiated, as compared with complex GNN ones.

关键词： Neural network models

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ZG Tracking controller of z2g1 Type for Fractional Power System

ZG Tracking Controller of z2g1 Type for Fractional Power Sys...

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IEEE International Conference on Information and Automation (ICIA)

作者： Zhang, Yunong Lai, Fangzheng He, Liangyu Li, Wan Wang, Jinjin Sun Yat Sen Univ Sch Data & Comp Sci Guangzhou 510006 Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Foshan 528300 Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China

ISBN: (纸本)9781509041022

The output tracking control problem of fractional power system is investigated in this paper. By combining Zhang dynamics (ZD) method and gradient dynamics (GD) method, i.e., the so-called ZG method, a tracking controller of z2g1 type is proposed for fractional power system. The design procedure is illuminated through a specific fractional power system. Besides, the method can be extended to the more general high-order nonlinear system of fractional power. Finally, four examples are included to show the feasibility and effectiveness of ZG method.

关键词： Zhang dynamics gradient dynamics fractional power system tracking control

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Population Projection of the Indian Subcontinent Using TP-Aided WASD Neuronet 12

Population Projection of the Indian Subcontinent Using TP-Ai...

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12th International Conference on Natural Computation, Fuzzy systems and Knowledge Discovery (ICNC-FSKD)

作者： Zhang, Yunong Li, Wan He, Liangyu Qiu, Junqiao Tan, Hongzhou Sun Yat Sen Univ Sch Data & Comp Sci Guangzhou 510006 Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Foshan 528300 Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China

ISBN: (纸本)9781509040933

The population projection of the Indian subcontinent, which is closely related to the future development of this region and even the whole world, has catched great attention among sociologists as well as scientists. However, most of the former researches are just based on fertility, mortality or other individual quantifiable factors by using some traditional statistical models and thus may lack all-sidedness in their results. The historical population data are the comprehensive reflection of population development under the influence of all factors. Based on the historical population data over 2000 years, a feedforward neuronet equipped with the weights-and-structure-determination (WASD) algorithm aided by twice-pruning (TP) technique is constructed. Besides, by introducing the cubic spline and error evaluation methods, the neuronet shows great performance in the population projection. Due to the marvelous learning and generalization abilities of the presented TP-aided WASD neuronet, we successfully draw up the population projection for the Indian subcontinent.

关键词： Weights-and-structure-determination (WASD) algorithm twice-pruning (TP) technique population prediction the Indian subcontinent cubic spline

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A Potential Saturation Value of World Population is Near? 13

A Potential Saturation Value of World Population is Near?

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13th IEEE International Conference on Signal Processing (ICSP)

作者： Zhang, Yunong Wang, Nanhao He, Liangyu Li, Wan Tan, Hongzhou Sun Yat Sen Univ SYSU Sch Data & Comp Sci Guangzhou 510006 Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Foshan 528300 Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Peoples R China

ISBN: (纸本)9781509013456

Sigmoid function was applied in a population growth model by Verhulst in 1838, of which the soundness has been tested by history. With the rapid development of computers' both hardware and software, it is accessible and worthwhile to build multiple sigmoid functions (MSF) models to describe and predict the potential saturation value of the world population. Via computer simulations, one of MSF models achieves a reasonable result that the potential saturation value of the world population is approximately 9.6 billion.

关键词： Multiple sigmoid functions model saturation value world population over-fitting

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UK Population Forecast Using Twice-Pruning Chebyshev-Polynomial WASD Neuronet 28

UK Population Forecast Using Twice-Pruning Chebyshev-Polynom...

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28th Chinese control and Decision Conference

作者： Zhang, Yunong Li, Wan Qiu, Binbin Tan, Hongzhou Luo, Ziyi Sun Yat Sen Univ Sch Informat Sci & Technol Guangzhou 510006 Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Foshan 528300 Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China

ISBN: (纸本)9781467397148

As an important branch of artificial intelligence, artificial neuronet has been well developed in many data learning and forecasting applications. In this paper, a weights-and-structure-determination (WASD) neuronet model for population forecast is proposed and investigated. Different from previous works, the cubic spline method is applied to restoring the historical population data evenly in order to overcome the deficiency of previous works in the neuronet learning. Then, a twice-pruning structure determination algorithm for hidden-neuron selection is proposed to improve the forecast capability of the neuronet model. With numerical experiments conducted to verify the inspiring capability of such a model, a UK population forecast based on the neuronet is thus shown and discussed. According to the forecast results, the UK population is most likely to increase with a steady growing rate in the following 15 years.

关键词： Chebyshev Polynomial WASD Neuronet Population Forecast

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Proposal and Verification of Four Fundamental Operations of Time-Varying Numbers 13

Proposal and Verification of Four Fundamental Operations of ...

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13th IEEE International Conference on Signal Processing (ICSP)

作者： Wu, Sheng Zhang, Yunong Chen, Dechao Li, Jian Ding, Yaqiong Sun Yat Sen Univ SYSU Sch Informat Sci & Technol Guangzhou 510006 Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Foshan 528300 Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Peoples R China

ISBN: (纸本)9781509013456

Four fundamental operations of time-varying numbers are widely encountered in systems and signals. Given the irreplaceable role of four fundamental operations and their time-varying properties, traditional arithmetics intrinsically aim at static (or say, time-invariant) problems solving. When running on relatively low speed processing units, the lagging errors of traditional arithmetics may become quite large and unacceptable. To eliminate the lagging errors of time-varying four fundamental operations in potential signal processing systems, based on Zhang dynamics (ZD), real-time computing models for four fundamental operations of time-varying numbers are proposed, constructed and investigated. The lagging-error-free solutions for four fundamental operations of time-varying numbers are obtained in this paper. Through four concise lemmas, the lagging-error-free properties are guaranteed. Correspondingly illustrative examples of time-varying four fundamental operations are also presented in turn. Additionally, simulation results are shown to substantiate the high accuracy of the ZD method for four fundamental operations of time-varying numbers.

关键词： Time-varying problem solving Zhang dynamics lagging errors online solutions four fundamental operations

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