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World Congress on Intelligent control and Automation (WCICA)

作者： Shuai Liu Wei Liang Xiaoling Zhang Meng Zheng Key Lab. of Networked Control Systems Chinese Academy of Science Shenyang China

Addressing the extremely high reliability is a critical problem of wireless control system in actual industrial applications. In this paper fully considering the characteristics of the wireless network transmission and industrial automation application, a grouping TDMA access approach based on multiple access points is proposed. The main idea is that: redundant multiple access points are applied in communication to improve the system reliability, multiple time synchronizations are made because of beacon frames of multiple access points to improve the accuracy, and ACK is replied by reliable access point to reduce retransmission and improve resource utilization. Finally, a corresponding access device is designed and implemented. Experiments show that it can meet the harsh requirements for the communication in control loops and demonstrates the effectiveness of the proposed approach.

关键词： Time division multiple access Wireless sensor networks Reliability Wireless communication Protocols Packet loss

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Neural Network Observer-Based Finite-Time Formation control of Mobile Robots

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MATHEMATICAL PROBLEMS IN ENGINEERING 2014年第1期2014卷 1-9页

作者： Zhang, Caihong Sun, Tairen Pan, Yongping Guangdong Mech & Elect Coll Sch Elect Engn Guangzhou 510550 Guangdong Peoples R China S China Univ Technol Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China Jiangsu Univ Sch Elect & Informat Engn Zhenjiang 212013 Peoples R China Natl Univ Singapore Sch Biomed Engn Singapore 117575 Singapore

This paper addresses the leader-following formation problem of nonholonomic mobile robots. In the formation, only the pose (i.e., the position and direction angle) of the leader robot can be obtained by the follower. First, the leader-following formation is transformed into special trajectory tracking. And then, a neural network (NN) finite-time observer of the follower robot is designed to estimate the dynamics of the leader robot. Finally, finite-time formation control laws are developed for the follower robot to track the leader robot in the desired separation and bearing in finite time. The effectiveness of the proposed NN finite-time observer and the formation control laws are illustrated by both qualitative analysis and simulation results.

关键词： NEURAL networks (Computer science) OBSERVABILITY (control theory) MOBILE robots QUALITATIVE research TRAJECTORY control (Robotics)

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Object tracking based on particle filter with discriminative features

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控制理论与应用（英文版） 2013年第1期11卷 42-53页

作者： Yunji ZHAO Hailong PEI Key Laboratory of Autonomous Systems and Networked Control (Ministry of Education) South China University of Technology

This paper presents a particle filter-based visual tracking method with online feature selection mechanism. In color-based particle filter algorithm the weights of particles do not always represent the importance correctly, this may cause that the object tracking based on particle filter converge to a local region of the object. In our proposed visual tracking method, the Bhattacharyya distance and the local discrimination between the object and background are used to define the weights of the particles, which can solve the existing local convergence problem. Experiments demonstrates that the proposed method can work well not only in single object tracking processes but also in multiple similar objects tracking processes.

关键词： Histogram of oriented gradients Local discrimination Particle filter Multiple object tracking

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Acceleration-Level Minimum Kinetic Energy (MKE) Scheme Derived via Ma Equivalence for Motion Planning of Redundant Robot Manipulators 7

Acceleration-Level Minimum Kinetic Energy (MKE) Scheme Deriv...

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7th International Symposium on Computational Intelligence and Design (ISCID)

作者： Guo, Dongsheng Zhai, Keke Xiao, Zhengli Tan, Hongzhou Zhang, Yunong SYSU 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)9781479970056

By following Ma et al's inspiring work (or termed, Ma equivalence), this paper proposes and investigates an acceleration-level minimization scheme for motion planning of redundant robot manipulators. Such a scheme depicted in the pseudoinverse-type formulation can achieve the purpose of the minimum kinetic energy (MKE) redundancy resolution originally at the joint-velocity level, and is thus termed the acceleration-level MKE scheme. In other words, the equivalence (i.e., mathematical equivalence, or generalized Ma equivalence) of MKE redundancy resolution at different levels is presented and discussed in this paper. Simulation results based on PUMA560 robot manipulator further substantiate the equivalence between the proposed acceleration-level MKE scheme and its original one (at the joint-velocity level).

关键词： equivalence acceleration-level minimum kinetic energy pseudoinverse motion planning redundant robots

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Apply signum-activated WASD neuronet to learning XOR logic via noisy input and output data

Apply signum-activated WASD neuronet to learning XOR logic v...

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International Workshop on Advanced Computational Intelligence (IWACI)

作者： Chengxu Ye Weixiang Ding Jianhao Deng Binghuang Cai Yunong Zhang School of Computer Science Qinghai Normal University Xining China School of Information Science and Technology Sun Yat-sen University (SYSU) Guangzhou China SYSU-CMU Shunde International Joint Research Institute Shunde China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou China School of Software Sun Yat-sen University Guangzhou China School of Medicine University of Pittsburgh Pitts-burgh PA USA Sun Yat-Sen University Guangzhou Guangdong CN

In this paper, a novel signum-activated weights-and-structure-determination neuronet (SAWASDN) is proposed, investigated and tested. Being different from the past WASD neuronet, the proposed SAWASDN employs discontinuous functions as its activation functions. In addition, we can determine the optimal weights directly and the optimal neuronet structure automatically by the WASD method. Finally, numerical experiments of learning and testing XOR logic via noisy input and output data are conducted, with Gaussian noise and with uniform noise added. Numerical results substantiate the feasibility, efficacy and robustness of the SAWASDN.

关键词： Robustness Noise

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Theory and Substantiation of z0g1 controller Conquering Singularity Problem of Output Tracking for a Class of Nonlinear System 17

Theory and Substantiation of z0g1 Controller Conquering Sing...

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IEEE 17th International Conference on Computational Science and Engineering (CSE)

作者： Zhang, Yunong Wang, Ying Yin, Yonghua Tan, Hongzhou Zeng, Qingkai 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)9781479979813

The conventional controller for output tracking of a class of nonlinear system is not valid when encountering the singularity (i.e., division-by-zero) problem. To conquer the singularity problem, Zhang et al. have proposed a simple yet effective controller design method, i.e., aiding the conventional controller with gradient dynamics (GD), yielding a z0g1 controller in the framework of Zhang-gradient (ZG) method. As an in-depth research, this paper provides the theory and proof on the performance of this z0g1 controller, which is exploited to conquer the singularity problem while fulfilling the tracking-control task. Besides, simulations and experiments substantiate and complement the theoretical analyses of such a z0g1 controller.

关键词： Nonlinear system Output tracking Singularity conquering Gradient dynamics (GD) Methodological proof

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ZG control of Populations of Lotka-Volterra Equations Using Interaction Coefficients as Inputs 17

ZG Control of Populations of Lotka-Volterra Equations Using ...

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IEEE 17th International Conference on Computational Science and Engineering (CSE)

作者： Zhang, Yunong Zhang, Yinyan Chen, Dechao Xiao, Zhengli Tan, Hongzhou 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)9781479979813

Lotka-Volterra equations describe the population relationship between two species, i.e., predator and prey. In many circumstances, it is necessary to introduce a control method into such a predator-prey system. Different from traditional methods, by applying Zhang-gradient (ZG) method and using interaction coefficients of Lotka-Volterra equations as inputs, the population control problem of the predator-prey system is solved in this paper. Besides, various coefficient controllers according to the ZG method for different control purposes based on the predator-prey system are designed. In addition, simulation results substantiate the effectiveness of the ZG coefficient controllers.

关键词： Predator prey systems

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Cart Velocity Tracking of General IPC Model Using ZG control Compared with Cart Path Tracking 17

Cart Velocity Tracking of General IPC Model Using ZG Control...

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IEEE 17th International Conference on Computational Science and Engineering (CSE)

作者： Xiao, Zhengli Chen, Dechao Mao, Mingzhi 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)9781479979813

As a typical model, the inverted pendulum on a cart (IPC) has nonlinear, unstable and non-minimum-phase characteristics and is investigated widely for tracking control problem solving. In this paper, we investigate a more general IPC model, in which the link of the pendulum has nonzero mass. Due to device velocity constrained, it is important and meaningful to investigate and analyze the velocity tracking control. To achieve velocity tracking control purposes, the presented ZG controllers consist of controllers of z1g0 and z1g1 types, named by the numbers of times of using Zhang dynamics (ZD) and gradient dynamics (GD) methods. Computer simulations and numerical experiments substantiate the feasibility and effectiveness of the ZG controllers for the velocity tracking control of the general IPC model. Furthermore, the superiority [in conquering the singularity problem (i.e., division-by-zero problem)] of z1g1 controller for velocity tracking control of the general IPC model is well substantiated via comparative simulation and numerical experiment results. At last, the ZG controllers for cart velocity tracking are compared with those for cart path tracking.

关键词： Velocity tracking Path tracking ZG controllers Singularity conquering IPC model

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Z-Type Model for Real-Time Solution of Complex ZLE

Z-Type Model for Real-Time Solution of Complex ZLE

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11th International Symposium on Neural Networks (ISNN)

作者： Jin, Long Tan, Hongzhou Luo, Ziyi Li, Zhan 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)9783319124360;9783319124353

A Z-type model for real-time solution of complex ZLE (i.e., complex-valued Zhang linear equation or termed complex-valued time-varying linear equation) is proposed and analyzed in this paper. Different from conventional G-type model, such a Z-type model utilizes adequately the first-order time-derivative information of time-varying coefficients, and eliminates a predefined vector-valued error function rather than a scalar-valued error function to zero. The state vector of such a Z-type model globally and exponentially converges to the unique theoretical time-varying solution-pair of complex ZLE. Computer-simulation results further verify and illustrate the effectiveness, efficiency and novelty of the proposed Z-type model.

关键词： Z-type model G-type model Complex ZLE (complex Zhang linear equation) Global exponential convergence

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Different-Level Simultaneous Minimization with Aid of Ma Equivalence for Robotic Redundancy Resolution

Different-Level Simultaneous Minimization with Aid of Ma Equ...

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11th International Symposium on Neural Networks (ISNN)

作者： Qiu, Binbin Guo, Dongsheng Tan, Hongzhou Yang, Zhi 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)9783319124360;9783319124353

In this paper, with the aid of Ma equivalence (ME), a different-level simultaneous minimization (DLSM) scheme is proposed and investigated for robotic redundancy resolution. Such a DLSM scheme, combining the minimum kinetic energy (MKE) and minimum acceleration norm (MAN) solutions via a weighting factor, can prevent the occurrence of relatively high joint velocity/acceleration and can guarantee the final joint velocity of motion to be near zero. Simulation results based on PUMA560 robot manipulator further substantiate the efficacy and flexibility of the proposed DLSM scheme on robotic redundancy resolution.

关键词： Different-Level Simultaneous Minimization (DLSM) Minimum Kinetic Energy (MKE) Minimum Acceleration Norm (MAN) Robotic redundancy resolution Ma Equivalence (ME)

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