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第三十四届中国控制会议

作者： Mohamed Elamin Sahabi Xiangyu Wang Shihua Li School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Faculty of Engineering Blue Nile University

ISBN: (纸本)9781467374439

This paper investigates the finite-time tracking control problem for rigid manipulator systems. The proposed controller is based on adding a power integrator technique, which guarantees global finite-time convergence of tracking errors. Compared with the backstepping control scheme, the proposed control scheme provides a faster convergence rate for the tracking error system. Simulation results show the effectiveness of the proposed control scheme.

关键词： Manipulator,tracking control,finite-time control,adding a power integrator technique

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Single sample face recognition via lower-upper decomposition

Single sample face recognition via lower-upper decomposition

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Asian control Conference

作者： Changhui Hu Xiaobo Lu School of Automation Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China

ISBN: (纸本)9781479978632

In this paper, a new single sample face recognition approach based on lower-upper (LU) decomposition is proposed. The single sample and its transpose are decomposed to two sets of basis images respectively by LU decomposition algorithm. Two approximation images are reconstructed from the two basis image sets respectively by the experimental estimation method. The fisher linear discriminant analysis (FLDA) is used to evaluate the optimal projection space using the new training set consisting of the single sample and its two approximation images for each person. We make two main contributions: one is that we propose to decompose the single sample and its transpose using the efficient LU decomposition algorithm; the other is that we present an experimental estimation method using the fixed image size to evaluate the number of basis images, which are used to reconstruct the approximation image. The experimental results on the FERET and AR face databases indicate that the proposed method is efficient and outperforms several state-of-the-art approaches which are proposed to address the single sample per person problem.

关键词： Approximation methods Face Face recognition Databases Image reconstruction Training Approximation algorithms

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Consensus with bounded controls for a class of linear systems with input saturation

Consensus with bounded controls for a class of linear system...

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IEEE International Conference on Communications in China (ICCC)

作者： Qingling Wang Changyin Sun School of Automation Southeast University Nanjing China Ministry of Education Key Laboratory of Measurement and Control of Complex Systems of Engineering Nanjing China

ISBN: (纸本)9781509002443

This paper considers the consensus problem synthesized with transient performance for a class of linear systems subject to input saturation. Two different settings, the undirected communication topology and a directed communication topologies, are systematically considered. To improve the transient performance of the resulting consensus, a saturated nonlinear consensus algorithm is proposed to solve this problem. Consensus tracking control for a class of linear systems is proved to be achieved under the general undirected and a directed graphs provided that their generated graphs contain a directed spanning tree. Numerical examples are utilized to illustrate the effectiveness of the theoretical results.

关键词： Transient analysis Linear systems control systems Topology Algorithm design and analysis Heuristic algorithms control theory

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Global finite-time stabilization of second-order systems subject to mismatched disturbances with application to consensus

Global finite-time stabilization of second-order systems sub...

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第三十四届中国控制会议

作者： Xiangyu Wang Shihua Li Haibo Du School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Electrical Engineering and Automation Hefei University of Technology

ISBN: (纸本)9781467374439

In this paper, the finite-time stabilization problem for second-order systems subject to mismatched disturbances is studied. By integrating the homogeneous control technique and the finite-time disturbance observer together, a kind of feedforwardfeedback composite controllers are proposed. These controllers globally finite-time stabilize the disturbed systems. Moveover,the composite control method is also used to solve the finite-time consensus problem of leaderless second-order systems with mismatched disturbances. Simulations demonstrate the effectiveness of the proposed control algorithms.

关键词： Mismatched disturbances,finite-time control,homogeneous theory,finite-time disturbance observer,consensus

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K-Means Clustering Based on Density for Scene Image Classification

K-Means Clustering Based on Density for Scene Image Classifi...

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2015年中国智能自动化学术会议

作者： Ke Xie Jin Wu Wankou Yang Changyin Sun School of Autmation Southeast University Key Lab of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Key Laboratory of Child Development and Learning Science of Ministry of Education Southeast University

K-means clustering has been extremely popular in scene image classification. However, due to the random selection of initial cluster centers, the algorithm cannot always provide the most optimal results. In this paper, we develop a density-based k-means clustering. First, we calculate the density and distance for each feature vector. Then choose those features with high density and large distance as initial cluster centers. The remaining steps are the same with k-means. In order to evaluate our proposed algorithm, we have conducted several experiments on twoscene image datasets: Fifteen Scene Categories dataset and UIUC Sports Event dataset. The results show that our proposed method has good repeatability. Compared with the traditional k-means clustering, it can achieve higher classification accuracy when applied in multiclass scene image classification.

关键词： K-means Density Scene image classification

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Research on Panoramic Vision System of Mobile Robot

Research on Panoramic Vision System of Mobile Robot

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第27届中国控制与决策会议

作者： Qiaobing Yao Hualong Yu Wankou Yang Changyin Sun School of Autmation Southeast University Key Lab of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast University Key Laboratory of Child Development and Learning Science of Ministry of Education Southeast University

ISBN: (纸本)9781479970186

This paper presents an imaging method for 360-degree panoramic view based on four wide angle *** order to complete the image mosaic,all the parameters such as focal length,principal point and distortion coefficients,etc are calibrated by our proposed calibration ***,our approach does not adopt the scheme which stitching all the images to the surrounding view after distortion *** proposed method directly calculates the mapping relationship between the wide-angle lens images and cylindrical projection images to generate lookup tables which can greatly simplifies the computation and redu.es the loss of information in each ***,panoramic image is composed by image registration and image *** results show that this method is valid.

关键词： Image mosaic Camera calibration Cylindrical projection LUTs

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A Pedestrian Detection Method Based on MBLBP Features and Intersection Kernel SVM

A Pedestrian Detection Method Based on MBLBP Features and In...

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2015年中国智能自动化学术会议

作者： Xuejie Nian Ke Xie Wankou Yang Changyin Sun School of Automation Southeast University Key Lab of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Key Laboratory of Child Development and Learning Science of Ministry of Education Southeast University

Pedestrian detection is a hot research topic in pattern recognition and computer vision. We combine MBBP（Multiscale Block Local Binary Patterns）feature and Histogram Intersection Kernel SVM and apply them to pedestrian detection. MBBP features, which make up for the lack of LBP（Local Binary Patterns） features in robustness, is a kind of effective texture description *** Intersection Kernel Support Vector Machine has the advantage of fast classification and high accuracy in object recognition. It can be used for further enhancing the system's real-time performance. The experiments show that the proposed approach has higher precision than the classical algorithm HOG+Linear SVM and the HOGBP Features Fusion tested on the established benchmarking datasets—INRIA.

关键词： Pedestrian detection MBLBP features HIKSVM

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MPCA on Gabor Tensor for Face Recognition

MPCA on Gabor Tensor for Face Recognition

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2015年中国智能自动化学术会议

作者： Jin Wu Xuejie Nian Wankou Yang Changyin Sun School of Automation Southeast University Key Lab of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Key Laboratory of Child Development and Learning Science of Ministry of Education Southeast University

There is a growing interest in subspace learning techniques for face recognition. This paper proposes a novel face recognition method based on MPCA with Gabor tensor representation. Although the Gabor face representation has achieved great success in face recognition, the excessive dimension of the data space often brings the algorithms into the curse of dimensionality dilemma. In this paper, we propose a 3rd-order Gabor tensor representation derived from a complete response set of 40 Gabor filters. Then MPCA(Multi-linear Principal Component Analysis) is applied to each Gabor tensor to extract three discriminative *** dimension redu.tion is done in such a way that most useful information is retained. The subspaces are finally integrated for classification. Experimental results on ORL database show promising results of the proposed method.

关键词： Face recognition MPCA Gabor tensor Representation

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Robust Second-Order Tracking of Multi-agent systems without Velocity measurements and with Input Saturation

Robust Second-Order Tracking of Multi-agent Systems without ...

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第三十四届中国控制会议

作者： Qingling Wang Changyin Sun Jian Hou Yingjiang Zhou School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing Aerosapce Automatic Control Institute Nanjing University of Posts and Telecommunications

ISBN: (纸本)9781467374439

This paper investigates the robust second-order tracking problem of multi-agent systems without velocity measurements and with input saturation on detailed balanced directed communication topologies, where agents' dynamics are subject to uncertain and external disturbances. We first construct one distributed bounded controller for multi-agent systems without uncertain and external disturbances. Then, combined with the controller, one modifying uncertainty and disturbance estimator(UDE)is proposed to approximate the situation where neither the velocity measurements nor their asymptotic estimation is *** is shown that the synchronization errors are bounded and their ultimate bounds could be arbitrarily small by choosing some parameters appropriately. Simulation results are presented to show the effectiveness of the controllers.

关键词： Robust second-order consensus,without velocity measurements,uncertainty and disturbance estimator,input saturation.

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Coordinated Adaptive control for Coordinated Path-following Surface Vessels with a Time-invariant Orbital Velocity

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IEEE/CAA Journal of Automatica Sinica 2014年第4期1卷 337-346页

作者： Yangyang Chen Ping Wei Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast University the Department of Electronic Information Engineering Anhui Business College

This article considers the problem of directing a family of fully actuated surface vessels to cooperatively follow a set of convex and closed orbits with a time-invariant reference orbital velocity and maintain attitude synchronization. A consensusbased adaptive control law under a bidirectional communication topology is proposed to estimate the reference orbital velocity so that the restriction that every vessel in the family must have access to the reference in the previous literature can be *** assumption of nonzero total linear speed of each vessel is removed by the use of potential function. Simulation results demonstrate the effectiveness of the proposed approach.

关键词： Coordinated adaptive control coordinated path-following attitude synchronization fully actuated surface vessels

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