检索结果-内蒙古大学图书馆

IEEE International Conference on control and Automation

作者： Yang-Yang Chen Kai-Xuan Wang Ya Zhang School of Automation and Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Chien-Shiung Wu College Southeast University

ISBN: (纸本)9781509017393

This article proposes a solution to the problem of forcing multiple agents to formation tracking a family of given concentric spheres when the communication topology is directed. Each agent under consideration has intrinsic second-order nonlinear dynamics. By using our previous concentric compression method, the cooperative control system can be regarded as a cascade system composed of the spherical tracking subsystem and the formation subsystem with the spherical tracking error as input. The algorithm for directed interaction is constructed by separately designing the control input projected onto the normal vector to the surface of sphere and the direction of spherical meridian for the spherical tracking subsystem, and the control input projected onto the direction of spherical parallel for formation motion. The asymptotic stability of the system is proved by using the tools of Input-to-State stability (ISS) theory. The effectiveness of the analytical results is verified by numerical simulations.

关键词： control input cascade systems Sphericity Normal vector SUB-system Mentoring Agents tracking control system stability Nonlinear Dynamics PROBLEM SOLUTION

来源：评论

学校读者我要写书评

暂无评论

Adaptive key SURF feature extraction and application in unmanned vehicle dynamic object recognition

引用

Journal of Beijing Institute of Technology 2015年第1期24卷 83-90页

作者：杜明芳王军政李静李楠李多扬 Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Automation School Beijing Union University

A new method based on adaptive Hessian matrix threshold of finding key SRUF （ speeded up robust features） features is proposed and is applied to an unmanned vehicle for its dynamic object recognition and guided navigation. First, the object recognition algorithm based on SURF feature matching for unmanned vehicle guided navigation is introduced. Then, the standard local invariant feature extraction algorithm SRUF is analyzed, the Hessian Metrix is especially discussed, and a method of adaptive Hessian threshold is proposed which is based on correct matching point pairs threshold feedback under a close loop frame. At last, different dynamic object recognition experi- ments under different weather light conditions are discussed. The experimental result shows that the key SURF feature abstract algorithm and the dynamic object recognition method can be used for un- manned vehicle systems.

关键词： dynamic object recognition key SURF feature feature matching adaptive Hessianthreshold unmanned vehicle

来源：评论

学校读者我要写书评

暂无评论

Adaptive Backstepping Tracking control of a 6-DOF Unmanned Helicopter

引用

IEEE/CAA Journal of Automatica Sinica 2015年第1期2卷 19-24页

作者： Bin Xian Jianchuan Guo Yao Zhang the Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and AutomationTianjin University

This paper presents an adaptive backstepping control design for a class of unmanned helicopters with parametric uncertainties. The control objective is to let the helicopter track some pre-defined position and yaw trajectories. In order to facilitate the control design, we divide the helicopter's dynamic model into three subsystems. The proposed controller combines the backstepping method with online parameter update laws to achieve the control objective. The global asymptotical stability (GAS) of the closed-loop system is proved by a Lyapunov based stability analysis. Numerical simulations demonstrate that the controller can achieve good tracking performance in the presence of parametric uncertainties. © 2014 Chinese Association of Automation.

关键词： Backstepping Closed loop control systems Closed loop systems controllers Flight dynamics Helicopters

来源：评论

学校读者我要写书评

暂无评论

Optimizing application layer multicast routing via artificial fish swarm algorithm

Optimizing application layer multicast routing via artificia...

引用

International Conference on Fuzzy systems and Knowledge Discovery (FSKD)

作者： Xuan Ma Rongjun Tang Jingyan Kang Qing Liu Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi'an China Faculty of Automation and Information Engineering

ISBN: (纸本)9781509040940

In this paper, we propose an approach based on the use of artificial fish swarm algorithm (AFSA) for solving the problem of multicast routing on application layer. Taking delay, stretch, and degree as three optimization objectives, we design the behaviors of artificial fish individual (AF), i.e. moving randomly, preying, following, and use Pareto ranking to evaluate the fitness of AF. The simulation results show that the proposed algorithm is an appropriate method to explore the search space of the complex problem and leads to good solutions in a reasonable amount of time.

关键词： Delays Routing Optimization Fish Network topology Algorithm design and analysis Visualization

来源：评论

学校读者我要写书评

暂无评论

Autonomous landing of a quadrotor on an UGV

Autonomous landing of a quadrotor on an UGV

引用

IEEE International Conference on Mechatronics and Automation

作者： Mengyin Fu Kuan Zhang Yang Yi Chao Shi Nanjing University of Science and Technology Nanjing China Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

ISBN: (纸本)9781509023974

This paper provides a complete solution for landing a quadrotor Unmanned Aerial Vehicle (UAV) on an Unmanned Ground Vehicle (UGV) in the outdoor environment. An image-based visual servo control law and a GPS-based navigation method are proposed, and the former method acquires the visual feedback from the camera attached to the quadrotor, while the latter strategy is used when the visual feedback is absent. For achieving more precise and stable performance in visually guided landing process, we design a specific landing marker that can provide different features as the distance between the quadrotor and landing target changes. Meanwhile, the corresponding detection and recognition algorithms are raised. Finally, a simulation experiment is carried out to validate the proposed vision algorithms and control strategies.

关键词： Visualization Cameras Unmanned aerial vehicles Mathematical model Land vehicles Navigation Servosystems

来源：评论

学校读者我要写书评

暂无评论

Consensus for networked multi-agent systems with unknown communication delays

引用

Journal of the Franklin Institute 2016年第16期353卷 4176-4190页

作者： Xiaoyu Liu Lihua Dou Jian Sun Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing 100081 PR China School of Automation Beijing Institute of Technology 100081 P.R. China

The problem of consensus for linear discrete-time networked multi-agent systems with directed topologies and communication delays is investigated in this paper. The communication delays are assumed to be constant but unknown. A consensus protocol is designed to compensate for the unknown delays based on the networked predictive control scheme. A sufficient condition for the consensus of multi-agent systems is derived. Finally, a numerical example is given to illustrate that the consensus protocol proposed in this paper is effective.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Genetic drivers of heterogeneity in type 2 diabetes pathophysiology

引用

Nature 2024年第8003期627卷 347-357页

作者： Ken Suzuki Konstantinos Hatzikotoulas Lorraine Southam Henry J Taylor Xianyong Yin Kim M Lorenz Ravi Mandla Alicia Huerta-Chagoya Giorgio E M Melloni Stavroula Kanoni Nigel W Rayner Ozvan Bocher Ana Luiza Arruda Kyuto Sonehara Shinichi Namba Simon S K Lee Michael H Preuss Lauren E Petty Philip Schroeder Brett Vanderwerff Mart Kals Fiona Bragg Kuang Lin Xiuqing Guo Weihua Zhang Jie Yao Young Jin Kim Mariaelisa Graff Fumihiko Takeuchi Jana Nano Amel Lamri Masahiro Nakatochi Sanghoon Moon Robert A Scott James P Cook Jung-Jin Lee Ian Pan Daniel Taliun Esteban J Parra Jin-Fang Chai Lawrence F Bielak Yasuharu Tabara Yang Hai Gudmar Thorleifsson Niels Grarup Tamar Sofer Matthias Wuttke Chloé Sarnowski Christian Gieger Darryl Nousome Stella Trompet Soo-Heon Kwak Jirong Long Meng Sun Lin Tong Wei-Min Chen Suraj S Nongmaithem Raymond Noordam Victor J Y Lim Claudia H T Tam Yoonjung Yoonie Joo Chien-Hsiun Chen Laura M Raffield Bram Peter Prins Aude Nicolas Lisa R Yanek Guanjie Chen Jennifer A Brody Edmond Kabagambe Ping An Anny H Xiang Hyeok Sun Choi Brian E Cade Jingyi Tan K Alaine Broadaway Alice Williamson Zoha Kamali Jinrui Cui Manonanthini Thangam Linda S Adair Adebowale Adeyemo Carlos A Aguilar-Salinas Tarunveer S Ahluwalia Sonia S Anand Alain Bertoni Jette Bork-Jensen Ivan Brandslund Thomas A Buchanan Charles F Burant Adam S Butterworth Mickaël Canouil Juliana C N Chan Li-Ching Chang Miao-Li Chee Ji Chen Shyh-Huei Chen Yuan-Tsong Chen Zhengming Chen Lee-Ming Chuang Mary Cushman John Danesh Swapan K Das H Janaka de Silva George Dedoussis Latchezar Dimitrov Ayo P Doumatey Shufa Du Qing Duan Kai-Uwe Eckardt Leslie S Emery Daniel S Evans Michele K Evans Krista Fischer James S Floyd Ian Ford Oscar H Franco Timothy M Frayling Barry I Freedman Pauline Genter Hertzel C Gerstein Vilmantas Giedraitis Clicerio González-Villalpando Maria Elena González-Villalpando Penny Gordon-Larsen Myron Gross Lindsay A Guare Sophie Hackinger Liisa Hakaste Sohee Han Andrew T Hattersley Christian Herder Momoko Horikoshi Annie-Green Howard Willa Centre for Genetics and Genomics Versus Arthritis Centre for Musculoskeletal Research Division of Musculoskeletal and Dermatological Sciences University of Manchester Manchester UK. Department of Diabetes and Metabolic Diseases Graduate School of Medicine University of Tokyo Tokyo Japan. Department of Statistical Genetics Osaka University Graduate School of Medicine Suita Japan. Institute of Translational Genomics Helmholtz Zentrum München German Research Center for Environmental Health Neuherberg Germany. konstantinos.hatzikotoulas@helmholtz-munich.de. Institute of Translational Genomics Helmholtz Zentrum München German Research Center for Environmental Health Neuherberg Germany. Center for Precision Health Research National Human Genome Research Institute National Institutes of Health Bethesda MD USA. British Heart Foundation Cardiovascular Epidemiology Unit Department of Public Health and Primary Care University of Cambridge Cambridge UK. Heart and Lung Research Institute University of Cambridge Cambridge UK. Department of Epidemiology School of Public Health Nanjing Medical University Nanjing China. Department of Biostatistics and Center for Statistical Genetics University of Michigan Ann Arbor MI USA. Corporal Michael J. Crescenz VA Medical Center Philadelphia PA USA. Department of Systems Pharmacology and Translational Therapeutics University of Pennsylvania Perelman School of Medicine Philadelphia PA USA. Department of Genetics University of Pennsylvania Perelman School of Medicine Philadelphia PA USA. Programs in Metabolism and Medical and Population Genetics Broad Institute of Harvard and MIT Cambridge MA USA. Diabetes Unit and Center for Genomic Medicine Massachusetts General Hospital Boston MA USA. TIMI Study Group Division of Cardiovascular Medicine Brigham and Women's Hospital Harvard Medical School Boston MA USA. William Harvey Research Institute Barts and the London School of Medicine and Dentistry Queen Mary University of London L

Type 2 diabetes (T2D) is a heterogeneous disease that develops through diverse pathophysiological processes and molecular mechanisms that are often specific to cell type. Here, to characterize the genetic contribution to these processes across ancestry groups, we aggregate genome-wide association study data from 2,535,601 individuals (39.7% not of European ancestry), including 428,452 cases of T2D. We identify 1,289 independent association signals at genome-wide significance (P < 5 × 10) that map to 611 loci, of which 145 loci are, to our knowledge, previously unreported. We define eight non-overlapping clusters of T2D signals that are characterized by distinct profiles of cardiometabolic trait associations. These clusters are differentially enriched for cell-type-specific regions of open chromatin, including pancreatic islets, adipocytes, endothelial cells and enteroendocrine cells. We build cluster-specific partitioned polygenic scores in a further 279,552 individuals of diverse ancestry, including 30,288 cases of T2D, and test their association with T2D-related vascular outcomes. Cluster-specific partitioned polygenic scores are associated with coronary artery disease, peripheral artery disease and end-stage diabetic nephropathy across ancestry groups, highlighting the importance of obesity-related processes in the development of vascular outcomes. Our findings show the value of integrating multi-ancestry genome-wide association study data with single-cell epigenomics to disentangle the aetiological heterogeneity that drives the development and progression of T2D. This might offer a route to optimize global access to genetically informed diabetes care.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Global State control for a Class of Inherently Higher-order Parameterized Nonlinear Time-delay systems Based on Homogeneous Domination Approach

引用

IFAC-PapersOnLine 2015年第12期48卷 191-196页

作者： Chai, Lin Wang, Pan Fei, Shumin Key Laboratory of Measurement and Control of Complex Systems of Engineering Southeast University Ministry of Education School of Automation Nanjing 210096 China

This paper addresses the problem of global state feedback stabilization for a class of inherently higher-order parameterized nonlinear systems subject to time-delay. By using the homogeneous domination approach, we construct a homogeneous state feedback controller with an adaptive strategy. A constructive design method is developed based an effective coupling of the inductive method and a sign function, leading to adaptive regulators with minimal parameterization. With the aid of a homogeneous Lyapunov-Krasovskii functional, the closedloop systems can be asymptotically stabilized globally. © 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Parameterization

来源：评论

学校读者我要写书评

暂无评论

An Online Parameter Estimation Method for a class of Nonlinear systems Based on Particle Filter 34

An Online Parameter Estimation Method for a class of Nonline...

引用

第三十四届中国控制会议

作者： XIE Guo ZHANG Dan HEI Xinhong QIAN Fucai Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing

ISBN: (纸本)9781467374439

Nonlinear system identification is one of the most important topics all over the word. Until now, there are many of off-line identification methods which exhibit well performance. The online approach with non-Gaussian noise, however, is still a challenge. For a class of nonlinear systems where all of the candidate parameters are contained in a definite parameter set, an online parameters and sates estimation method is proposed based on particle filter and Bayes theorem as the following steps. Firstly, regarding all of the candidates, the states are estimated by particle filter(PF) algorithm. Secondly the posterior probabilities of all of candidates are calculated according to the Bayes theorem;then the weights of all of the candidates are obtained through normalization. Lastly, the parameters and sates are estimated ultimately according to the weighted sum of all of the candidates and states. Numerical illustrations are presented to exhibit the application of the method proposed herein, and the performance of the method is examined.

关键词： Nonlinear system,Particle filter,Parameter set,Online parameter identification

来源：评论

学校读者我要写书评

暂无评论

Stability analysis of networked control systems with denial-of-service attacks

Stability analysis of networked control systems with denial-...

引用

UKACC International Conference on control (control)

作者： Jin Zhang Chen Peng Suhaib Masroor Hongtao Sun Lin Chai Shanghai University Shanghai Shanghai CN Shanghai Key Laboratory of Power Station Automation Technology Shanghai University Shanghai China Key Laboratory of Measurement and Control of Complex Systems of Engineering Southeast University Nanjing Jiangsu China

This paper addresses stability problem for a class of networked control systems (NCSs) with network attacks. As a network attack to control systems, denial-of-service attacks are fully taken into account in the NCSs modelling. Under the scenario that there exist denial-of-service attacks in the communication channel, a closed-loop system with an error function is provided for the studied NCSs, where the denial-of-service attacks are well considered. Then based on the above constructed system model, one sufficient condition is derived for ensuring the uniformly ultimately boundedness of the derived system under consideration, and the upper bound of the maximum allowable number of denial-of-service attack is obtained. Moreover, the celebrated time-delay system technology method is introduced to improve the result of the upper bound of the maximum allowable number of denial-of-service attack. Finally, one numerical example is given to show the effectiveness of the proposed method.

关键词： Computer crime Networked control systems Actuators Stability analysis Closed loop systems Communication channels

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：