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On exponential convergence of nonlinear gradient dynamics system with application to square root finding

NONLINEAR DYNAMICS 2015年第2期79卷 983-1003页

作者： Zhang, Yunong Chen, Dechao Guo, Dongsheng Liao, Bolin Wang, Ying Sun Yat Sen Univ Sch Informat Sci & Technol Guangzhou 510006 Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Shunde 528300 Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China Jishou Univ Coll Informat Sci & Engn Jishou 416000 Peoples R China

Gradient dynamics systems and their exponential convergence theories are investigated in this paper. Differing from widely considered linear gradient dynamics system (LGDS), a class of nonlinear gradient dynamics system (NGDS) is investigated with the exponential convergence analyzed. As an application to scalar square root finding, by defining six different square-based nonnegative error-monitoring functions (i.e., energy functions), six different NGDSs are theoretically designed and proposed in the form of first-order differential equations. Moreover, inspired by the exponential convergence theory of the LGDS, for each of the six proposed NGDSs, the corresponding exponential convergence theory is proved rigorously based on Lyapunov theory. Numerical verification and comparison further illustrate the efficacy of the proposed six NGDSs, in which the main differences and respective usages, as well as the application background and condition, are discussed in detail.

关键词： Nonlinear gradient dynamics system Exponential convergence Scalar square root finding Energy function Lyapunov theory

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Active Disturbance Rejection-based Sliding Mode control for a Surface Vessel

Active Disturbance Rejection-based Sliding Mode Control for ...

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第三十四届中国控制会议

作者： Yuli Wei Tairen Sun Guohai Liu School of Electrical Information and Engineering Jiangsu University Key Laboratory of Autonomous Systems and Networked Control Ministry of EducationSouth China University of Technology

ISBN: (纸本)9781467374439

Active disturbance rejection-based sliding mode control is proposed for the surface vessel with exogeneous disturbances to track desired trajectory robustly. A sliding surface based extended state observer is presented to estimate the lumped disturbances and compensate them in a feedforward form. To enhance the disturbances estimation speed and accuracy, a composite adaptive extended state observer, which is adjusted by tracking error and sliding surface estimation error, is proposed to estimate disturbances. The composite adaptive estimation based tracking control is constructed in feedforward-feedback composite control strategy. The effectiveness of the designed controllers is illustrated by theoretical analysis and simulations results.

关键词： Surface vessel,Trajectory tracking,Extended state observer,Active disturbance rejection control,Sliding mode control

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ZG Stabilization and Tracking control for Bilinear System of u-Integration Type 27

ZG Stabilization and Tracking Control for Bilinear System of...

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27th Chinese control and Decision Conference (CCDC)

作者： Zhang, Yunong Zhang, Yinyan Yan, Xiaogang Qiu, Binbin 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 Peoples R China

ISBN: (纸本)9781479970162

In this paper, the stabilization control and tracking control for a bilinear system of u-integration type are investigated. By applying the Zhang-gradient (ZG) method, a ZG stabilization controller is designed and proposed to realize the stabilization control of the bilinear system. In order to show the superiority of the proposed ZG stabilization controller for the stabilization control of the bilinear system, the comparison with the controller designed by means of the back-stepping (BS) technique is conducted via a simulation. Besides, we design and propose two ZG tracking controllers for the tracking control of the bilinear system with one output and two outputs. In addition, simulation results verify the efficacy of the proposed ZG controllers in fulfilling the stabilization and tracking control of the bilinear system.

关键词： Bilinear System Stabilization Tracking control Zhang-Gradient (ZG) Method

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ZG Tracking control of 3-Input 3-Output Nonlinear System with GD Used Additionally Once More 7

ZG Tracking Control of 3-Input 3-Output Nonlinear System wit...

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International Conference on Advanced Computational Intelligence

ISBN: (纸本)9781479972593

In this paper, the tracking control problem of a 3-input 3-output nonlinear system is investigated and solved. By adopting and generalizing Zhang-gradient (ZG) method, as the novel combination of Zhang dynamics (ZD) and gradient dynamics (GD), in a quite different way (i.e., with GD used additionally once more), a ZG controller group is designed and proposed for the tracking control of the aforementioned system. Furthermore, simulation results substantiate the efficacy of the proposed controller group in fulfilling the tracking control task of the 3-input 3-output (3I3O) system.

关键词： Nonlinear systems

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WASD Neuronet Prediction for China's Population

WASD Neuronet Prediction for China's Population

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IEEE International Conference on Information and Automation 2015

作者： Zhang, Yunong Liu, Jianxi Yan, Xiaogang Qiu, Binbin Qiao, Tianjian Sun Yat Sen Univ Sch Informat Sci & Technol Guangzhou 510006 Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Shunde 528300 Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Peoples R China

ISBN: (纸本)9781467391047

As one of the most important factors influencing the development potential of the country, China's population attracts considerable attention. Some official organizations regularly publish the predictions of China's population every calendar year. However, most of the predictions use the standard cohort-component method, which does not allow for all relevant impact factors and may lose sight of some important uncertainty factors. To overcome the aforementioned limitations, in this paper, we present a 3-layer feedforward neuronet (i.e., neural network) approach equipped with a weights-and-structure-determination (WASD) algorithm for the population prediction of China. Numerical experiments further substantiate the feasibility of such an approach and indicate that there are three kinds of possibilities for the progress of China's population in the next decade. With the highest possibility, China's population will keep continual increase with a gentle growth rate.

关键词： China's population Power-activated neuronet (PAN) Weights-and-structure-determination (WASD) algorithm Prediction Prediction-type testing

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Tracking and Stabilizing Chen Chaotic System via One Multiplicative Coefficient as Zhang-Gradient control Input 7

Tracking and Stabilizing Chen Chaotic System via One Multipl...

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International Conference on Advanced Computational Intelligence

作者： Zhang, Yunong Chen, Zeqi Zhang, Yinyan Qiao, Tianjian 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 Peoples R China

ISBN: (纸本)9781479972593

This paper considers solving the tracking and stabilizing control problems of the Chen chaotic system with multiplicative inputs, By using the Zhang-gradient (ZG) method, which combines Zhang dynamics (ZD) and gradient dynamic (GD), a ZG controller is obtained for solving the problems above. Moreover, another new ZG controller is designed by using the ZG method again. Simulation results further show the effectiveness and high efficiency of the ZG controllers.

关键词： controllers

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Inverse-Free Solution of Z1G1 Type to Acceleration-Level Inverse Kinematics of Redundant Robot Manipulators 7

Inverse-Free Solution of Z1G1 Type to Acceleration-Level Inv...

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International Conference on Advanced Computational Intelligence

作者： Wang, Ying Yan, Xiaogang He, Liangyu Tan, Hongzhou 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 Peoples R China

ISBN: (纸本)9781479972593

In past decades, the online solution of inverse kinematics (IK) has always been a mathematically troublesome problem for redundant robot manipulators. Besides, the traditional IK approaches, such as the pseudo-inverse method, have to calculate the computationally expensive inverse (specifically, pseudo-inverse) of Jacobian matrix. To drastically and effectively avoid the Jacobian inversion and to obtain the accurate solution of the time-varying IK problem for redundant robot manipulators, a special type of inverse-free solution, namely of Z1G1 type, is thus proposed and investigated at the joint acceleration level in this paper. In addition, we conduct the path-tracking simulations performed on three-link, four-link and five-link planar robot manipulators to substantiate the effectiveness and accuracy of such an inverse-free solution. Moreover, the experiment based on a six-link redundant robot manipulator hardware system illustrates the physical realizability of the proposed novel solution for handling the time varying IK problem of the redundant robot manipulator(s) in an inverse-free manner.

关键词： Robot Manipulator Redundant robot Manipulators inverse kinematics Solution Solutions Jacobian matrix

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ZG control for Nonlinear System 2-Output Tracking with GD Used Additionally Once More 4

ZG Control for Nonlinear System 2-Output Tracking with GD Us...

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4th International Conference on Computer Science and Network Technology (ICCSNT)

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

ISBN: (纸本)9781467381734

In this paper, the Zhang-gradient (ZG) method, which is a combination of Zhang dynamics (ZD) and gradient dynamics (GD) methods, is presented for solving the tracking control problem of a difficult example system with one control input fixed. Instead of using GD twice more, we only use GD once more for this system in the paper. Besides, simulation verifications further illustrate that the proposed controller group based on the ZG method with GD used additionally once more can achieve relatively satisfactory tracking success and accuracy.

关键词： nonlinear system tracking control problem GD method

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Northern American Population Data Recovery from 1500AD to 1950AD As Well As Prediction Using WASD Neuronet with 513-Year Data

Northern American Population Data Recovery from 1500AD to 19...

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Chinese Automation Congress (CAC)

作者： Zhang, Yunong Li, Wan Qiu, Binbin Qiu, Junqiao 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)9781467371896

The recovery and prediction of Northern American population data, which are closely related to the future development of Northern America and even the whole world, have become significant subjects and captured great attention among sociologists as well as scientists. However, most of the relevant researches are just based on fertility, mortality or other individual quantifiable factors by traditional statistical models and thus lack all-sidedness in their results. As we know, the historical population data are the comprehensive reflection of the population development under the influence of all factors. In this paper, based on the past 513-year population data, a feedforward neuronet equipped with the weights-and-structure-determination (WASD) algorithm is thus constructed for the recovery and prediction of Northern American population data. Besides, the neuronet is activated by a group of Chebyshev polynomials (CP) of the first kind, which is named the CP neuronet in this paper. Moreover, the optimal normalization factor is found and utilized to improve the neuronet's performance. Due to the marvelous learning and generalization abilities of the presented CP neuronet, we recover the missing population data from 1500AD to 1950AD as well as draw up the Northern American population prediction for the next few decades.

关键词： Weights-and-structure-determination (WASD) algorithm CP neuronet Population data recovery Prediction Northern America

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Warming Substantiated by Multiple Sine Functions Decomposition of Multiple Cities' Temperature Data

Warming Substantiated by Multiple Sine Functions Decompositi...

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Chinese Automation Congress (CAC)

作者： Zhang, Yunong Ma, Jingyao Qiu, Binbin Ding, Sitong Yang, Zhi 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)9781467371896

In recent years, extensive efforts have been committed to the temperature forecast work, and more and more studies have indicated that the temperature is rising. For the purpose of forecasting long-term temperature trend, a temperature forecast method named multiple sine functions decomposition (MSFD) method is presented in this paper. Based on the numerical experiments for 12 Asia-Pacific (APAC) cities, the efficacy of the MSFD method and the warming trend of APAC region are substantiated. The core concept of the MSFD method is that, by decomposing a historical temperature sequence into sine waveforms, multiple sine functions are thus obtained and applied to forecasting the future temperature trend. Different degrees of warming in the ensuing 200 years are forecasted from the results of numerical experiments. In addition, we find that the high-latitude cities are generally more evident in terms of temperature change compared with those low-latitude cities. In summary, with the most possibility, the general temperature trend of APAC region is upward.

关键词： Temperature Forecast Multiple sine functions decomposition (MSFD) Warming trend

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