A novel analytic approach is presented to study the population of excitatory and inhibitory spiking neurons in this paper. The evolution in time of the population dynamic equation is determined by a partial differenti...
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A novel analytic approach is presented to study the population of excitatory and inhibitory spiking neurons in this paper. The evolution in time of the population dynamic equation is determined by a partial differential equation. A new function is proposed to characterize the population of excitatory and inhibitory spiking neurons, which is different from the population density function discussed by most researchers. And a novel evolution equation, which is a nonhomogeneous parabolic type equation, is derived. From this, the stationary solution and the firing rate of the stationary states are given. Last, by the Fourier transform, the time dependent solution is also obtained. This method can be used to analyze the various dynamic behaviors of neuronal populations.
In this paper, the cooperative stabilization problem of linear time-invariant (LTI) systems is studied based on a class of distributed Luenberger observers. A given LTI system is estimated by a network of observers. I...
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ISBN:
(数字)9781728176871
ISBN:
(纸本)9781728176888
In this paper, the cooperative stabilization problem of linear time-invariant (LTI) systems is studied based on a class of distributed Luenberger observers. A given LTI system is estimated by a network of observers. In case of observability configuration or external attack, each observer has to possess different measurement output of the LTI system. Classical distributed control strategies cannot be directly used because they are assumed to obtain identical information. In view of this problem, a class of distributed observers are designed under an undirected graph, which can recover the state of the LTI system by limited local information. By using any single channel of the estimated state, a control input is proposed to stabilize the LTI system. By analysing the stability of an augmented system which involves the LTI system and the estimation error system, some necessary and sufficient conditions are derived for the existence of control gains that guarantee the stabilization of the LTI system. In addition, some algorithms are proposed to specify the control gains. Lastly, some simulation examples are given to verify the effectiveness of the theoretical result.
Joint flexibility is an important factor to consider in the robot control design if high performance is expected for the robot *** works on control of rigid-link flexible-joint(RLFJ)robot in literature have assumed th...
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Joint flexibility is an important factor to consider in the robot control design if high performance is expected for the robot *** works on control of rigid-link flexible-joint(RLFJ)robot in literature have assumed that the kinematics of the robot is known *** have been few results that can deal with the kinematics uncertainty in RLFJ *** 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 *** observers are designed to avoid accelerations measurement due to the fourth-order overall system *** stability of the closed-loop system is shown and sufficient conditions are presented to guarantee the stability.
This study investigates the problem of event-based synchronisation of linear discrete-time dynamical networks. Leader-following and leaderless synchronisations are achieved by a distributed event-trigger strategy. It ...
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There are some disadvantages existing in traditional artificial method of detecting road rut feature, such as consuming time, consuming energy, low accuracy and danger. In order to solve those problems listed above, a...
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Gather the information of the environment by the monocular vision. Using the H and S weight of the HSV color model, separate the target from the environment with a certain color, by a fast clustering algorithm for two...
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ISBN:
(纸本)7900719229
Gather the information of the environment by the monocular vision. Using the H and S weight of the HSV color model, separate the target from the environment with a certain color, by a fast clustering algorithm for two-value image segmentation. Calculating the distance between the camera and target by the 3D reconstruction algorithm and sub-control strategy, and raise its veracity by laser information fusion. Furthermore, a vision servo system has been designed and utilized to achieve the robot's dynamic track. At last, some experiments were used to certification its availability.
The H ∞ based decoupling tracking control is studied in this paper. A virtual system constituted by the controlled system and the no coupling reference model is firstly set up. The controlled system is driven to foll...
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The H ∞ based decoupling tracking control is studied in this paper. A virtual system constituted by the controlled system and the no coupling reference model is firstly set up. The controlled system is driven to follow the reference model to realize the decoupling. And the tracking error can be formulated by the H ∞ norm of the virtual system. Then the controller is derived by minimizing the H ∞ norm, which can be described by Linear Matrix Inequalities (LMIs). The necessary and sufficient condition of existence of controller is derived based on the LMIs above. A flight control example is given to illustrate the effectiveness of the proposed method. The simulation results show that the proposed method is of better control performance than Linear Quadratic (LQ) tracking controller.
In this paper, a method of automatic pavement breakage extraction based on patching feature is presented for the requirement of pavement patching extraction with complex background on road surface. The median filter i...
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Blurred images are caused by many factors such as defocus, motion, and atmospheric turbulence. Due to the unknown various factors that cannot be distinguished in the blurred image, it is necessary to propose a unified...
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Micromanipulation robot is a system which often does some precise manipulations in micro scale space, such as centimeter or millimeter level space, in which micro visual servo system plays a very important *** visual ...
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Micromanipulation robot is a system which often does some precise manipulations in micro scale space, such as centimeter or millimeter level space, in which micro visual servo system plays a very important *** visual servo system, it’s difficult to give consideration to two or more things such as location accuracy and real-time property at the same *** this paper, we introduced a novel approach which suited our system very well and could meet both of the above *** was called ORB, a novel feature extracting method which outperformed many current excellent methods such as SIFT and SURF.
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