In this paper,we study a class of stochastic fuzzy delayed Cohen-Grossberg neural networks under impulsive *** Razumikhin method and iteration technique,some sufficient conditions ensuring the mean-square exponential ...
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In this paper,we study a class of stochastic fuzzy delayed Cohen-Grossberg neural networks under impulsive *** Razumikhin method and iteration technique,some sufficient conditions ensuring the mean-square exponential input-to-state stability of the designed delayed neural networks are *** results can generalize and improve some earlier publications.A numerical example is demonstrated to verify the theoretical results.
The traditional 3D human motion capture methods require operators to wear tracking sensors on their body. However, these devices would bring operators much inconvenience. Currently, vision based motion capture systems...
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ISBN:
(纸本)9781509041039
The traditional 3D human motion capture methods require operators to wear tracking sensors on their body. However, these devices would bring operators much inconvenience. Currently, vision based motion capture systems provide us an alternative approach for motion capture technology. In this paper, based on human kinematics and function approximation technique (FAT), a novel method is presented for the trajectory control of Baxter robot. Each arm of the Baxter robot has seven degrees of freedom. The geometry vector approach is applied to capture human motion trajectory by using Microsoft Kinect sensor. A FAT control system is employed to make the robot follow the trajectory of human motion. The UDP communication protocol is employed to send the reference human joint angle data to the robot. We carry out preliminary experiments on Baxter robot to verify the validity of the control approach and the results demonstrate that the method has achieved satisfactory performance.
In this paper, a neural network (NN) tracking controller is developed for robot manipulators. To deal with the unknown dynamics of the robot systems, radial basis function neural network (RBFNN) is integrated into the...
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ISBN:
(纸本)9781467384155
In this paper, a neural network (NN) tracking controller is developed for robot manipulators. To deal with the unknown dynamics of the robot systems, radial basis function neural network (RBFNN) is integrated into the adaptive control design to compensate for the uncertainties. In order to achieve the predefined transient tracking performance, time-varied barrier Lyapunov functions (BLFs) are synthesized for the control design. A switching mechanism is incorporated into the controller to achieve a global uniformly ultimately boundedness (GUUB) stability, extending the conventional semiglobal uniformly ultimately boundedness (SGUUB) stability of NN controlsystems, such that requirement on the initial conditions can be relaxed. Simulations studies are performed to illustrate the effectiveness and efficiency of the proposed control scheme using a robot manipulator model.
This paper presents an orientation estimate scheme using monocular camera and inertial measurement units (IMUs). Unlike the traditional wearable orientation estimation methods, our proposed approach combines both of t...
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ISBN:
(纸本)9781467391054
This paper presents an orientation estimate scheme using monocular camera and inertial measurement units (IMUs). Unlike the traditional wearable orientation estimation methods, our proposed approach combines both of these two modalities in a novel pattern. Firstly, two visual correspondences between consecutive frames are selected that not only meet the requirement of descriptor similarity constraint, but satisfy the locality constraints, which is under the assumption that the correspondence will be taken as an inlier if their nearest-neighbor feature-point counterparts are within the predefined thresholds with respect to the objective feature-point counterpart. Secondly, these two selected correspondences from visual sensor and quaternions from inertial sensor are jointly employed to derive the initial body poses. Thirdly, a coarse-to-fine procedure proceeds in removing visual false matches and estimating body poses iteratively using Expectation Max-imization (EM). Ultimately, the optimal orientation estimation is achieved. Experimental results validate that our proposed method is effective and well suited for wearable orientation estimate.
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 an...
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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.
A co-design of sampling rate scheduling and optimal control is investigated for networkedcontrolsystems (NCSs) with transmission delay and packet loss. The basic purpose of proposed co-design scheme is to save subst...
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ISBN:
(纸本)9781479925391
A co-design of sampling rate scheduling and optimal control is investigated for networkedcontrolsystems (NCSs) with transmission delay and packet loss. The basic purpose of proposed co-design scheme is to save substantial communication in both the sensor-to-controller channels and the controller-to-actuator channels, while guaranteeing optimal control performance of NCSs. Firstly, a switched systems model used to describe NCSs with sampling periods subject to a finite set is constructed. Secondly, guaranteed cost control is studied for NCSs in order to obtain two upper bounds of quadratic performance of systems under the two cases, (a): the worst network communication condition and the longest sampling period; (b): the best network communication condition and the shortest sampling period. After the above preparations have been done, a performance partition-based sampling rate scheduling algorithm is developed to perform co-design strategy for NCSs. Moreover, to calculate control performance in real-time approach and guarantee the asymptotically stable of systems, adaptive controllers are designed in terms of linear matrix inequality (LMI) technology. Finally, a numerical example and simulations are given to illustrate the effectiveness of the proposed method.
This paper is concerned with communication and control co-design for wireless sensor networkedcontrol system (WSNCS) with time-varying delay. Jointly designing communication and control is an attractive paradigm for ...
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This paper is concerned with communication and control co-design for wireless sensor networkedcontrol system (WSNCS) with time-varying delay. Jointly designing communication and control is an attractive paradigm for WSNCS, since the control performance of WSNCS is high sensitive to resource-constrained communication networks. The main idea of devised scheme is searching an optimal event-triggered transmission condition on the premise that wireless link capacity constraint is satisfied and stability of systems is guaranteed. The main aim of devised scheme is to greatly optimize control performance of WSNCS. First, two wireless network architectures characterized by multi-hop and star topology are put forward. Secondly, a model of WSNCS with event-triggered transmission mechanism is constructed. It is followed by stability analysis of WSNCS to obtain the asymptotical stability condition of systems. And then a search algorithm is presented for communication and control co-design. Finally, numerical examples are given to illustrate the effectiveness of the proposed method.
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