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A Robust Traffic Driver Face Detection Method

A Robust Traffic Driver Face Detection Method

引用

2016 IEEE International Conference on Progress in Informatics and Computing

作者： Dechao Luo Xiaobo Lu Changhui Hu Xiang Peng Wei Wang School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

Face detection technology is a hot topic in the past recent years. It has been maturely applied to many practical areas. However, the driver face detection is still an open problem to solve. In this paper, we proposed an improved method to promote the face detection rate and apply it to the images from the monitoring videos. The first step is to detect the car from the images according to an off-line learning method. Then the method based on additional off-line learning method is the front level for skin color feature in order to correctly detect the driver face. The proposed systems are implemented on the various complicated road environment. The results show that the proposed method improves the efficiency of the driver face detection and is of strong robustness on having glasses, driver head rotation, and lighting change.

关键词： car detection driver face detection skin color feature Haar-like feature Adaboost

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Nonsingular Terminal Sliding Mode control for Fuel Quantity Actuator System Using High-order Sliding Mode Observer

Nonsingular Terminal Sliding Mode Control for Fuel Quantity ...

引用

第三十八届中国控制会议

作者： Jianpei Hu Hao Sun Shihua Li School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

Fuel quantity actuator can directly control fuel injection quantity of the diesel engine, so it is the main component of the electronic distribution pump. In this paper, a position tracking problem for fuel quantity actuator system under the influence of disturbances and system uncertainties is studied via a high-order sliding mode observer(HOSMO) based nonsingular terminal sliding mode control(NTSMC) approach. The proposed finite-time NTSMC method integrates the lumped disturbance estimation information estimated by the HOSMO into the designed control law, and realizes the finite time tracking performance under the influence of disturbances and uncertainties. The simulation results show the effectiveness of the proposed method.

关键词： Lumped Disturbances Fuel Quantity Actuator Non-singular Terminal Sliding Mode control(NTSMC) High-order Sliding Mode Observer(HOSMO)

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Research on Vibration Suppression for Industrial Robots Based on Dynamic Feedforward control

Research on Vibration Suppression for Industrial Robots Base...

引用

第43届中国控制会议

作者： Bin Huang Yahui Gan Fang Fang Bo Zhou Xianzhong Dai School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

To address the challenges of low position tracking accuracy and high vibrations in mechanical arms controlled by PID closed-loop systems, this paper introduces a torque feedforward control scheme based on dynamic models. The paper initially analyzes the causes of vibrations during robot motion, establishing a mathematical model to quantify the trajectory accuracy and repeatability of vibrations. Subsequently, a torque feedforward control scheme based on dynamic models is designed, and its feasibility is theoretically analyzed. In this motion control scheme, precise dynamic models are utilized to calculate and output the desired torque. The torque values are then converted into motor current values, which are superimposed on the control output of the current loop in the servo to achieve real-time torque compensation. Finally, through simulation experiments, the paper validates that the dynamics-based torque feedforward control effectively suppresses robot vibrations, enhances tracking accuracy,and improves dynamic performance. The findings demonstrate the efficacy of the proposed control strategy in addressing the challenges associated with PID-controlled robotic arm systems.

关键词： Industrial robots feedforward control vibration suppression

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Model Prediction Based Adaptive Variable Impedance control of Manipulator with Passivity

Model Prediction Based Adaptive Variable Impedance Control o...

引用

第43届中国控制会议

作者： Yang Xiao Wenbo Liu Shihua Li School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Aiming at the compliance control of rigid manipulators in human-robot interaction scenarios, a new variable impedance control(VIC) model is proposed to improve the adaptive ability of the manipulator to adjust compliance in different phases of the task. The parameter selection problem is transformed into a controller design problem. Impedance constraints are set by introducing the prior knowledge of the person, information about the state and contact force, and manipulability. The one-step model predictive control(MPC) method is used to search for the optimal solution of impedance parameters, so that the manipulator can adaptively select different balance relations between tracking accuracy and compliance. Moreover, in order to avoid the damage of time-varying impedance parameters to the stability, a tank-based method is implemented to ensure the passivity of the impedance system. Finally, the simulation results verify the effectiveness of the proposed control scheme.

关键词： Variable Impedance control(VIC) Model Predictive control(MPC) Tank-based method Passivity

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Finite-time disturbance Observer Based Active Anti-disturbance control for Disturbed Inverted Pendulum System

Finite-time disturbance Observer Based Active Anti-disturban...

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第40届中国控制会议

作者： Xueying Lu Huazhou Hou Shihua Li School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

The balance control problem of disturbed inverted pendulum systems is *** of the existing advanced control methods for disturbed inverted pendulum systems are developed only to suppress constant or bounded *** results in a degradation of system performance when meeting severe *** this end,a finite-time disturbance observer is developed to estimate time-varying ***,an integral terminal sliding mode controller is designed for the inverted pendulum *** on the finite-time disturbance observer and the integral terminal sliding mode technique,a composite controller with finite-time convergence is proposed,which rejects the time-varying disturbances and alleviates the *** simulation results on the inverted pendulum system are presented to demonstrate the advantage and effectiveness of the proposed method.

关键词： Anti-disturbance Finite-time Disturbance Observer Integral Terminal Sliding Mode control

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Smoky Vehicle Detection Algorithm Based On Improved Transfer Learning

Smoky Vehicle Detection Algorithm Based On Improved Transfer...

引用

International Conference on systems and Informatics (ICSAI)

作者： Guangming Zhang Dexiong Zhang Xiaobo Lu Yichao Cao Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing China

ISBN: (数字)9781728152561

ISBN: (纸本)9781728152578

With the demand for pollution prevention has increased. Establishing a smoky vehicle inspection and evidence collection system will help to supervise the problem of excessive emissions of vehicles. Because the sample in the training data set is insufficient and unbalanced, the existing methods cannot obtain sufficient classification accuracy in the classification task of the smoky vehicle. This paper uses the transfer learning method to compare the effects of smoky car classification tasks on the five basic networks of DenseNet, NasNet, Inception, VGG19, MobileNet. In addition, for the classification task of the smoke vehicle, it is necessary to consider both the global information of the tail of the vehicle and the detailed information of the smoke area. In this paper, the global average pooling layer is changed to the spatial pyramid pooling layer, and it has achieved better results. Finally, the classification Precision nearly 0.1, Recall 0.3 are obtained, which is much better than the traditional classification method and the shallow non-transfer deep learning method.

关键词： Informatics

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Nonsingular Terminal Sliding Mode control for PMSM Servo System Based on Backlash Compensation and High-order Sliding Mode Observer

Nonsingular Terminal Sliding Mode Control for PMSM Servo Sys...

引用

第32届中国控制与决策会议

作者： Jianwei Gui Lu Zhang Shihua Li Xiangyu Wang School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

In this paper,the permanent magnet synchronous motor（PMSM） servo system with backlash is *** the mechanical transmission of the servo system uses gears,screw rods,on the one hand,the proper backlash can ensure the normal operation of the transmission mechanism;on the other hand,the existence of backlash nonlinearity will reduce the rigidity of the transmission mechanism,affect the tracking performance of the system,and even lead to mechanical *** order to eliminate the influence of the backlash nonlinearity,the modeling and identification of the backlash nonlinearity are introduced,and the influence of the backlash is compensated in the *** addition,in order to reject the possible model deviation and uncertain interference,reduce steady states fluctuations,a high-order sliding mode observer（HOSMO） based nonsingular terminal sliding mode control（NTSMC） is *** simulation verification,the compound controller proposed in this paper can effectively reduce the influence of the backlash nonlinearity and improve the position tracking performance of the system.

关键词： Permanent Magnet Synchronous Motor（PMSM） Servo System Backlash Nonsingular Terminal Sliding Mode control（NTSMC） High-order Sliding Mode Observer（HOSMO）

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Multi-source Disturbance Observer Based Continuous Sliding Mode control for Fuel Quantity Actuator System

Multi-source Disturbance Observer Based Continuous Sliding M...

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第32届中国控制与决策会议

作者： Xuming Wang Hao Sun Shihua Li Jun Yang School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

The fuel quantity actuator is a significant component in the position-controlled fuel injection pump,which controls the fuel quantity injected into the diesel *** the fuel quantity actuator system,there are nonlinearities and multi-source disturbances which result in significant degradations of control performance and increase the difficulty of *** researches merely consider the constant disturbance in the fuel quantity actuator system but ignore the existing harmonic disturbance,as a result,it is hard to achieve excellent control performance in the presence of harmonic *** paper analyses the working principle of system in detail,considers multiple sources of disturbances,and then establishes the nonlinear mathematical model with multi-source disturbances including constant disturbances and harmonic ***,a baseline chattering free continuous sliding mode controller is *** the baseline controller,the feedback linearization technique is applied to handle the *** order to further reduce the steady-state fluctuation,a multi-source disturbance observer composed of a disturbance observer（DOB） and a harmonic disturbance observer（HDOB） is employed to estimate the multi-source disturbances and the estimations are used for *** this end,a multi-source disturbance observer based continuous sliding mode control approach is *** guaranteeing robustness and free chattering,the steady-state fluctuation is reduced effectively since the switch function gain in the continuous control law can be selected *** simulation validates the proposed control approach.

关键词： Multi-source disturbance Harmonic disturbance observer Continuous sliding mode control Fuel quantity actuator

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Asymptotically Tracking and Dynamic Regulation of SISO Nonlinear System Based on Multi-dimensional Taylor Network controller

Asymptotically Tracking and Dynamic Regulation of SISO Nonli...

引用

International Conference on control, Automation and systems

作者： An-Ming Kang Hong-Sen Yan School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (纸本)9781479999767

This paper deals with the problem of output feedback control of SISO nonlinear systems based on the multi-dimensional Taylor network (MTN) controller. It adopts the MTN controller as a network structure controller and the differential geometry as an analysis tool. It proves that, when the given conditions are met, the reference signal can be asymptotically tracked by the MTN controller. And also, it proves the MTN controller can realize the closed-loop system dynamic regulation. Finally, an example is given to prove the correctness of above.

关键词： Asymptotically tracking Dynamic Regulation SISO Nonlinear System Multi-dimensional Taylor Network (MTN) controller

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Robust Consensus Tracking for Double-Integrator Dynamics without Velocity measurements

Robust Consensus Tracking for Double-Integrator Dynamics wit...

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第27届中国控制与决策会议

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

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

关键词： Second-order consensus,without velocity measurements,uncertainty and disturbance estimator,M-matrix.

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