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Improved results on state estimation for neural networks with time-varying delays

控制理论与应用（英文版） 2010年第2期8卷 215-221页

作者： Tao LI 1 , Shumin FEI 2 , Hong LU 2 (1.School of Instrument Science & engineering, Southeast University, Nanjing Jiangsu 210096, China 2.key laboratory of measurement and control of complex systems of engineering, Ministry of Education, Southeast University, Nanjing Jiangsu 210096, China) School of Instrument Science & Engineering Southeast University Nanjing Jiangsu China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing Jiangsu China

In this paper, some improved results on the state estimation problem for recurrent neural networks with both time-varying and distributed time-varying delays are presented. Through available output measurements, an improved delay-dependent criterion is established to estimate the neuron states such that the dynamics of the estimation error is globally exponentially stable, and the derivative of time-delay being less than 1 is removed, which generalize the existent methods. Finally, two illustrative examples are given to demonstrate the effectiveness of the proposed results.

关键词： Exponential state estimator Recurrent neural networks Exponential stability Time-varying delays Linear matrix inequality (LMI)

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Global Stability of Cascaded systems with Non-smooth Continuity

Global Stability of Cascaded Systems with Non-smooth Continu...

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第三十二届中国控制会议

作者： Ma Li Li Xuebing Ding Shihong Zhang Jun School of Electrical and Information Engineering Jiangsu University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast University

ISBN: (纸本)9781479900305

The local/global Lipschitz continuity is always required when considering the stability of the cascaded systems. Different from the exiting methods proposed in the literature,this paper gives a method to deal with non-smooth cascaded *** using iISS property,some sufficient conditions for global asymptotic stability of the cascaded systems are derived. Then,based upon this,an interesting result of finite-time stability for cascaded systems is further *** proposed methods are verified by some academic examples.

关键词： Cascaded systems Stability Finite-time control

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Person Re-identification Based on Dual-channel Attention and Local Feature Fusion

Person Re-identification Based on Dual-channel Attention and...

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2022 International Conference on Electrical, control and Information Technology, ECITech 2022

作者： Ning, Xinkuang Shao, Jiayu Lin, Wenjie Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing China

ISBN: (纸本)9783800759170

Aiming at improving low accuracy of existing person re-identification algorithms in dealing with low image resolution, different illumination, diverse poses, and viewing angles, this paper proposes a person re-id algorithm based on dual-channel attention and local feature fusion. After ResNet50, it is followed by the spatial attention and the channel attention to extract the global features. Then the feature map segmentation is performed to extract the local features, and a fusion feature with strong judgment is obtained. In addition, this paper adds the central loss constraint item to the triplet hard loss. The triplet_center loss joint cross-entropy loss function further to improve adaptability of the model in complex scenarios. The proposed method is compared and tested on the CUHK03, DukeMTMC-reID and Market-1501 data sets, and the accuracy of Rank-1 reached 96.1%, 89.8% and 79.8%. This algorithm makes full use of the features of different depths and the key information of interest. The module has a solid discriminative ability. Also the accuracy of mean average precision of the proposed method is better than other advanced algorithms. © VDE VERLAG GMBH ∙ Berlin ∙ Offenbach.

关键词： Image resolution

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Self-triggered Consensus control for Linear Multi-agent systems With Input Saturation

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IEEE/CAA Journal of Automatica Sinica 2020年第1期7卷 150-157页

作者： Yanxu Su Qingling Wang Changyin Sun School of Automation Southeast UniversityNanjing 210096and also with the Key Laboratory of Measurement and Control of Complex System of EngineeringMinistry of EducationSoutheast UniversityNanjing 210096China

In this paper, we study the consensus problem for a class of linear multi-agent systems(MASs) with consideration of input saturation under the self-triggered mechanism. In the context of discrete-time systems, a self-triggered strategy is developed to determine the time interval between the adjacent triggers. The triggering condition is designed by using the current sampled consensus error. Furthermore, the consensus control protocol is designed by means of a state feedback approach. It is shown that the considered multi-agent systems can reach consensus with the presented algorithm. Some sufficient conditions are proposed in the form of linear matrix inequalities(LMIs) to show the positively invariant property of the domain of attraction(DOA). Moreover, some sufficient conditions of controller synthesis are provided to enlarge the volume of the DOA and obtain the control gain matrix. A numerical example is simulated to demonstrate the effectiveness of the theoretical analysis results.

关键词： Input saturation linear matrix inequalities(LMIs) multi-agent systems(MASs) self-triggered control

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A survey on fabrication,control,and hydrodynamic function of biomimetic robotic fish

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Science China(Technological Sciences) 2017年第9期60卷 1365-1380页

作者： YU JunZhi WEN Li REN ZiYu State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences School of Mechanical Engineering and Automation Beihang University

Understanding and replicating the locomotion principles offish are fundamental in the development of artificial fishlike robotic systems,termed robotic *** paper has two objectives:(1) to review biological clues on biomechanics and hydrodynamic flow control offish swimming and(2) to summarize design and control methods for efficient and stable swimming in robotic *** review of state-of-the-art research and future-oriented new directions indicates that fish-inspired biology and engineering interact in mutually beneficial *** strong interaction offers an important insight into the design and control of novel fish-inspired robots that addresses the challenge of environmental uncertainty and competing objectives;in addition,it also facilitates refinement of biological knowledge and robotic strategies for effective and efficient swimming.

关键词： fish swimming robots robotic fish hydrodynamics motion control

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Sequential fusion estimation for multisensor systems with non-Gaussian noises

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Science China(Information Sciences) 2020年第12期63卷 153-165页

作者： Liping YAN Chenying DI Q.M.Jonathan WU Yuanqing XIA Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology Department of Electrical and Computer Engineering University of Windsor

The sequential fusion estimation for multisensor systems disturbed by non-Gaussian but heavytailed noises is studied in this paper. Based on multivariate t-distribution and the approximate t-filter,the sequential fusion algorithm is presented. The performance of the proposed algorithm is analyzed and compared with the t-filter-based centralized batch fusion and the Gaussian Kalman filter-based optimal centralized fusion. Theoretical analysis and exhaustive experimental analysis show that the proposed algorithm is effective. As the generalization of the classical Gaussian Kalman filter-based optimal sequential fusion algorithm, the presented algorithm is shown to be superior to the Gaussian Kalman filter-based optimal centralized batch fusion and the optimal sequential fusion in estimation of dynamic systems with non-Gaussian noises.

关键词： state estimation sequential fusion non-Gaussian disturbance heavy-tailed noise multivariate t-distribution

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controlling the depth of a gliding robotic dolphin using dual motion control modes

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Science China(Information Sciences) 2020年第9期63卷 217-230页

作者： Jian WANG Zhengxing WU Min TAN Junzhi YU State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences State Key Laboratory for Turbulence and Complex System Department of Mechanics and Engineering ScienceBIC-ESAT College of Engineering Peking University

This paper investigates the performance of the dual mode, namely flipper mode and central pattern generator(CPG) mode, for controlling the depth of a gliding robotic dolphin. Subsequent to considering the errors in dynamic models, we propose a depth control system that combines the line-of-sight(LOS)method with an adaptive control approach(ACA) to deal with uncertainties in the model parameters. First,we establish a full-state dynamic model to conduct simulations and optimize the parameters used in later aquatic experiments. Then, we use the LOS method to transform the control target from the depth to the pitch angle and employ the ACA to calculate the control signal. In particular, we optimize the ACA’s control parameters using simulations based on our dynamic model. Finally, our simulated and experimental results demonstrate not only that we can successfully control the robotic dolphin’s depth, but also that its performance was better than that of the CPG-based control, thus indicating that we can achieve three-dimensional motion by combining flipper-based and CPG-based control. The results of this study suggest valuable ideas for practical applications of gliding robotic dolphins.

关键词： gliding robotic dolphin depth control dual motion adaptive control approach

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A literature review of deadlock prevention policy based on petri nets for automated manufacturing systems

International Journal of Digital Content Technology and its ...

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International Journal of Digital Content Technology and its Applications 2012年第21期6卷 426-433页

作者： Guan, Xuanxuan Li, Yue Xu, Jianxia Wang, Chengying Wang, Shouguang School of Information and Electronic Engineering Zhejiang Gongshang University Hangzhou 310018 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing 210096 China

Deadlock is an undesired situation in a highly automated system due to the fact that no system can allow its occurrence which may produce some unnecessary economic losses or serious consequences. There are three mathematical tools to handle deadlocks in resource allocation systems: graph theory, finite state machine, and Petri net. Due to its inherent characteristics, Petri nets are widely applied to manufacturing systems. Generally, these existing deadlock methods are classified into three strategies: deadlock detection and recovery, deadlock avoidance, and deadlock prevention. In this paper, a review of deadlock prevention policies and merits and drawbacks of these policies are presented. Then it gives the possible trend of the research in the future.

关键词： Petri nets

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Robust adaptive control for uncertain systems with discrete and distributed delays

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控制理论与应用（英文版） 2008年第3期6卷 287-292页

作者： Qing ZHU Shumin FEI Tao LI Tianping ZHANG Key Laboratory of Measurement and Control of Complex Systems of Engineering School of Automation Southeast University Nanjing Jiangsu 210096 China College of Information Engineering Yangzhou University Yangzhou Jiangsu 225009 China

In this paper, a robust adaptive control scheme is proposed for the stabilization of uncertain linear systems with discrete and distributed delays and bounded perturbations. The uncertainty is assumed to be an unknown continuous function with norm-bounded restriction. The perturbation is sector-bounded. Combining with the liner matrix inequality method, neural networks and adaptive control, the control scheme ensures the exponential stability of the closed-loop system for any admissible uncertainty.

关键词： Time-delay systems Robust control Adaptive control Neural networks Global exponential stability Linear matrix inequalities

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Circular Formation Flight control for Unmanned Aerial Vehicles With Directed Network and External Disturbance

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IEEE/CAA Journal of Automatica Sinica 2020年第2期7卷 505-516页

作者： Yangyang Chen Rui Yu Ya Zhang Chenglin Liu School of Automation and Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast UniversityNanjing 210096China School of Automation Southeast UniversityNanjing 210096China Key Laboratory of Advanced Process Control for Light Industry Ministry of EducationInstitute of AutomationJiangnan UniversityWuxi 214122China

This paper proposes a new distributed formation flight protocol for unmanned aerial vehicles(UAVs)to perform coordinated circular tracking around a set of circles on a target *** from the previous results limited in bidirectional networks and disturbance-free motions,this paper handles the circular formation flight control problem with both directed network and spatiotemporal disturbance with the knowledge of its upper *** from the design of a common Lyapunov fiunction for bidirectional cases,we separately design the control for the circular tracking subsystem and the formation keeping subsystem with the circular tracking error as *** the whole control system is regarded as a cascade connection of these two subsystems,which is proved to be stable by input-tostate stability(ISS)*** the purpose of encountering the external disturbance,the backstepping technology is introduced to design the control inputs of each UAV pointing to North and Down along the special sphere(say,the circular tracking control algorithm)with the help of the switching ***,the distributed linear consensus protocol integrated with anther switching anti-interference item is developed to construct the control input of each UAV pointing to east along the special sphere(say,the formation keeping control law)for formation *** validity of the proposed control law is proved both in the rigorous theory and through numerical simulations.

关键词： Directed network external disturbance flight control unmanned aerial vehicles(UAVs)

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