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Semi-parametric adaptive control of discrete-time nonlinear systems

Semi-parametric adaptive control of discrete-time nonlinear ...

引用

IEEE International Conference on automation and Logistics

作者： Chenguang Yang Tianyou Chai Lianfei Zhai Shuzhi Sam Ge Tong Heng Lee Social Robotics Lab Interactive Digital Media Institute and Department of Electrical and Computer Engineering National University of Singapore Singapore Key Laboratory of Process Industry Automation Ministry of Education Research Center of Automation Northeastern University Shenyang China

In this paper, we investigate a novel adaptive design approach for nonlinear systems as an exploration of the new challenging topic on dealing with both parametric and nonparametric internal uncertainties in adaptive control of discrete-time nonlinear systems. The existence of both two kinds of uncertainties makes it very difficult or even impossible to apply the traditional recursive identification algorithms which are designed for parametric systems. To best utilize the existing adaptive control technique, a novel deadzone with threshold converging to zero has been proposed to modify the traditional gradient update law for parameters estimation, while an auxiliary output including both uncertainties is introduced to facilitate the nonparametric uncertainties compensation. It is rigorously proved that the designed adaptive control guarantees the boundedness of all the closed-loop signals and achieves asymptotic tracking performance.

关键词： Adaptive control Nonlinear systems Sampling methods Path planning Testing automation Road accidents Genetic algorithms Unmanned aerial vehicles Ant colony optimization

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Robust Stability of Discrete-Time Switched Delay systems and Its Application to Network-Based Reliable Control

Robust Stability of Discrete-Time Switched Delay Systems and...

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2009 American Control Conference (ACC 2009)

作者： Shi-Lu Dai Hai Lin Shuzhi Sam Ge Key Laboratory of Integrated Automation of Process Industry Ministry of Education of China Northeastern University Shenyang China 110004 Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Social Robotics Lab Interactive Digital Media Institute and the Department of Electrical and Computer Engineering National University of Singapore Singapore 117576

ISBN: (纸本)9781424445233

This paper addresses the problem of robust stability of discrete-time switched systems with time-varying delays and polytopic uncertainties. It is supposed that the switched systems are composed of both stable and unstable subsystems. Delay-dependent sufficient conditions for robust exponential stability are proposed by employing parameter-dependent piecewise Lyapunov-like functional combined with the free-weighting matrix and average dwell time methods. These sufficient conditions are applied in the study of stability analysis for a network-based reliable control system with controller failures, and the effectiveness of the analysis procedure is demonstrated with numerical simulation on network-based reliable control of cart-pendulum.

关键词： Robust stability Delay systems Control systems Switched systems Sufficient conditions Control system synthesis Time varying systems Uncertainty Delay effects Stability analysis

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Implementation of a parallel SAD based wavefront sensor architecture on FPGA

Implementation of a parallel SAD based wavefront sensor arch...

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European Conference on Circuit Theory and Design, ECCTD

作者： Zoltan Kincses Zoltan Nagy Laszlo Orzo Peter Szolgay Gyorgy Mezo Department of Electrical Engineering and Information Systems University of Pannonia Veszprem Hungary Cellular Sensory and Wave Computing Laboratory Computer and Automation Hungarian Academy of Sciences Hungary Heliophysical Observatory Debrecen Hungary

Wavefront aberration caused by turbulent or rapidly changing media can considerably degrade the performance of an imaging system. Adaptive optics can dynamically compensate these wavefront distortions and so provide corrected imaging. We developed an affordable adaptive optic system which combines CMOS sensor and LCOS display technology with the FPGA devices parallel computing capabilities. High speed and accurate wavefront sensor is fundamental part of any adaptive optic system. In this paper, an efficient FPGA implementation of the Sum of Absolute Differences (SAD) algorithm is introduced which accomplish correlation based wavefront sensing. This architecture was implemented on a Spartan-3 FPGA and is capable to measure the incoming wavefront at the speed of sensor data acquisition speed.

关键词： Field programmable gate arrays Adaptive optics Optical imaging Optical sensors Sensor systems Degradation Optical distortion CMOS image sensors Liquid crystal on silicon Displays

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Gene Selection of Multiple Cancer Types via Huberized Multi-class Support Vector Machine

Gene Selection of Multiple Cancer Types via Huberized Multi-...

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Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference

作者： Juntao Li Yingmin Jia Junping Du Fashan Yu the Department of Systems and Control Beihang University (BUAA) the Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and TechnologyBeijing University of Posts and Telecommunications the School of Electrical Engineering and Automation Henan Polytechnic University

This paper proposes a new type of regularization in the context of multi-class support vector machine for simultaneous classification and gene *** combining the huberized hinge loss function and the elastic net penalty,the proposed support vector machine can do automatic gene selection and further encourage a grouping effect in the process of building classifiers,thus leading a sparse multi-classifiers with enhanced ***,a reasonable correlation between the two regularization parameters is proposed and an efficient solution path algorithm is *** of microarray classification are performed on the leukaemia data set to verify the obtained results.

关键词： Gene selection grouping effect microarray classification solution path support vector machine(SVM)

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Frequency-domain approach to robust iterative learning controller design for uncertain time-delay systems

Frequency-domain approach to robust iterative learning contr...

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Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference

作者： Deyuan Meng Yingmin Jia Junping Du Fashan Yu the Department of Systems and Control Beihang University (BUAA) the Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and TechnologyBeijing University of Posts and Telecommunications the School of Electrical Engineering and Automation Henan Polytechnic University

This paper deals with the robust iterative learning control(ILC) for time-delay systems(TDS) with both model and delay *** ILC algorithm with anticipation in time is considered,and a frequency-domain approach to its design is *** shows that a necessary and sufficient convergence condition can be provided in terms of three design parameters:the lead time,the learning gain,and the performance weighting *** particular,if the lead time is chosen as just the delay estimate,then the convergence condition is derived independent of the delay and the *** this case,with the selection of the performance weighting function,the perfect tracking can be achieved,or the least upper bound of the L2-norm of the limit tracking error can be guaranteed less than the least upper bound of the L2-norm of the initial tracking error.

关键词： Iterative learning control time-delay systems frequency-domain approach anticipation in time

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H∞-based design approach to discrete-time learning control systems with iteration-varying disturbances

H∞-based design approach to discrete-time learning control ...

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Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference

This paper is concerned with the iterative learning control(ILC) problem for discrete-time systems with iterationvarying *** the so-called super-vector approach to ILC,the discrete domain bounded real lemma is employed to develop a sufficient condition ensuring both the stability and the desired H∞ performance of the ILC *** is shown that this sufficient condition can be presented in terms of linear matrix inequalities(LMIs),which can also determine the learning gain matrix.A numerical simulation example is included to validate the theoretical results.

关键词： Iterative learning control discrete-time systems iteration-varying disturbances H_∞ performance linear matrix inequality

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Distributed H∞ consensus control for networks of multiple agents with linear coupling dynamics

Distributed H∞ consensus control for networks of multiple a...

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SICE Annual Conference

作者： Yang Liu Yingmin Jia Junping Du Fashan Yu Department of Systems and Control Beihang University Beijing China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo Henan China

This paper is devoted to the consensus control for a network of autonomous agents with high-dimension linear coupling dynamics and subject to external disturbances. By transforming the consensus control problem into an H infin control problem, we propose a distributed state feedback protocol, and obtain conditions in terms of linear matrix inequalities (LMIs) to ensure the consensus with a prescribed H infin performance level for networks with zero and nonzero communication delays, respectively. Furthermore, the undetermined feedback matrix of the proposed protocol is also solved. A numerical example is included to validate the theoretical results.

关键词： Control systems Communication system control Protocols Multiagent systems Vehicle dynamics Automatic control Telecommunication control Electronic mail Linear feedback control systems State feedback

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Adaptive multi-class support vector machine for microarray classification and gene selection

Adaptive multi-class support vector machine for microarray c...

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SICE Annual Conference

作者： Juntao Li Yingmin Jia Junping Du Fashan Yu Department of Systems and Control Beihang University Beijing China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo Henan China

This paper proposes an adaptive multi-class support vector machine for simultaneous microarray classification and gene selection. By evaluating the gene ranking significance, the adaptive multi-class support vector machine is shown to encourage an adaptive grouping effect in the process of building classifiers, thus leading a sparse multi-classifiers with enhanced interpretability. Based on a reasonable correlation between the two regularization parameters, an efficient solution path algorithm is developed for solving the proposed support vector machine. Experiments performed on the leukaemia data set are provided to verify the obtained results.

关键词： Support vector machines Support vector machine classification Electronic mail Programmable control Adaptive control Gene expression Learning systems Automatic control Control systems Telecommunication control

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Fast algorithm for blind estimation of tip shape for atomic force microscope

Fast algorithm for blind estimation of tip shape for atomic ...

引用

2008 8th IEEE Conference on Nanotechnology, IEEE-NANO

作者： Yuan, Shuai Xi, Ning Dong, Zaili Miao, Lei Wang, Yuechao State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Graduate University of the Chinese Academy of Sciences Beijing China Department of Electrical and Computer Engineering Michigan State University United States Department of Electrical and Computer Engineering Electrical and Computer Engineering Michigan State University

ISBN: (纸本)9781424421046

Imaging quality of nano scales produced by atomic force microscope (AFM) seriously depends on the shape of the probe tip. Commonly, the distortions will be induced when the probe tip scans material surfaces. This situation could hinder nano-observation and nano-operation. In order to obtain the actual observing image, one of the existing methods for solving this problem is the blind evaluation of the probe tips. Through this method, the shape of a probe tip can be described, and then the scanned image produced by the probe can be improved by the known tip shape. Since the traditional algorithm of tip blind evaluation is extremely time-consuming, a new algorithm that can significantly reduce the computational time, is presented in this paper. The experimental results demonstrate that the new algorithm is much more efficient compared to the existing methods. © 2008 IEEE.

关键词： Image enhancement

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Camera handoff with adaptive resource management for multi-camera multi-target surveillance

Camera handoff with adaptive resource management for multi-c...

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IEEE 5th International Conference on Advanced Video and Signal Based Surveillance, AVSS 2008

作者： Chen, Chung-Hao Yi, Yao Page, David Abidi, Besma Koschan, Andreas Abidi, Mongi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical Engineering and Computer Science University of Tennessee Knoxville TN 37996 United States GE Global Research Center Niskayuna NY 12309 United States

ISBN: (纸本)9780769533414

Camera handoff is a crucial step to generate a continuously tracked and consistently labeled trajectory of the object of interest in multi-camera surveillance systems. Most existing camera handoff algorithms concentrate on data association, namely consistent labeling, where images of the same object are matched across different cameras. However, most real-time object tracking systems see a decrease in the system's frame rate as the number of tracked objects increases. To address this issue, we propose to incorporate an adaptive resource management mechanism into camera handoff. In so doing, cameras' resources can be dynamically allocated to multiple objects according to their priorities and hence the required minimum frame rate can be maintained. Experimental results illustrate that the proposed camera handoff algorithm is capable of maintaining a constant frame rate and of achieving a substantially improved handoff success rate by approximately 20% in comparison with the algorithm presented by Khan and Shah. © 2008 IEEE.

关键词： Cameras

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