In this paper, distributed containment control problems of general linear multi-agent systems are investigated. The objective is to make the followers in a multi-agent network converge to the convex hull spanned by so...
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In this paper, distributed containment control problems of general linear multi-agent systems are investigated. The objective is to make the followers in a multi-agent network converge to the convex hull spanned by some leaders whose control inputs are nonzero and not available to any *** mode surfaces are defined for the cases of reduced order and non-reduced order, respectively. for each case, fast sliding mode controllers are designed. It is shown that all the error trajectories exponentially reach the sliding mode surfaces in a finite time if for each follower, there exists at least one of the leaders who has a directed path to the follower, and the leaderscontrol inputs are bounded. The control Lyapunov function for exponential finite time stability, motivated by the fast terminal sliding mode control, is used to prove reachability of the sliding mode surfaces. Simulation examples are given to illustrate the theoretical results.
Ground-based cloud classification is challenging due to extreme variations in the appearance of clouds under different atmospheric conditions. Texture classification techniques have recently been introduced to deal wi...
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Ground-based cloud classification is challenging due to extreme variations in the appearance of clouds under different atmospheric conditions. Texture classification techniques have recently been introduced to deal with this issue. A novel texture descriptor, the salient local binary pattern （SLBP）, is proposed for ground-based cloud classification. The SLBP takes advantage of the most frequently occurring patterns （the salient patterns） to capture descriptive information. This feature makes the SLBP robust to noise. Experimental results using ground-based cloud images demonstrate that the proposed method can achieve better results than current state-of-the-art methods.
Robots are changing our lives:sweeping robots patrol our living rooms; interactive robots accompany our children; industrial robots assemble vehicles; rescue robots search and save lives in catastrophes; medical robot...
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Robots are changing our lives:sweeping robots patrol our living rooms; interactive robots accompany our children; industrial robots assemble vehicles; rescue robots search and save lives in catastrophes; medical robots perform surgeries in *** better understand robots’challenges and impact, National Science Review (NSR) interviewed Professor Toshio Fukuda, who is one of the world’s most representative robotics experts and has developed a number of bionic robots and micro/nano-robots.
Piezoelectric-actuated stick-slip device (PASSD) is a highly promising equipment that is composed of one end-effector, one piezoelectric actuator (PEA) and one driving object adhered to the PEA. Since the endeffector ...
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Piezoelectric-actuated stick-slip device (PASSD) is a highly promising equipment that is composed of one end-effector, one piezoelectric actuator (PEA) and one driving object adhered to the PEA. Since the endeffector can slip on the surface of the driving object, the PASSD is capable of realizing the macrolevel motion with the microlevel precision. Due to the following two reasons: the complicated relative motion between the end-effector and the driving object, and the inherent hysteresis nonlinearity in the PEA, the ultraprecision displacement control of the end-effector of PASSDs raises a real challenge, which is rarely reported in the literature. Toward solving this challenge, a neural-network-based controller is proposed in this paper. First, a neural-network-based model is proposed to capture the relative motion between the end-effector and the driving object. Second, a neural-network-based inversion model is developed to online calculate the desired position of the PEA under the predesigned reference of the end-effector. Third, a dynamic linearized neural-network-based model predictive control method, which can effectively handle the hysteresis nonlinearity, is employed to implement the displacement control of the PEA, which finally results in an overall high-precision controller of the end-effector. Finally, a PASSD prototype has been implemented and tested through experimental studies to demonstrate the effectiveness of the proposed approach.
Aquatic creatures such as fish, cetaceans, and jellyfish could inspire innovative designs to improve the ways that manmade systems operate in and interact with aquatic environments [1, 2]. Jellyfish in nature use jet ...
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Aquatic creatures such as fish, cetaceans, and jellyfish could inspire innovative designs to improve the ways that manmade systems operate in and interact with aquatic environments [1, 2]. Jellyfish in nature use jet propulsion to move through the water, which have been proven to be one of the most energetically efficient swimmers on the planet [3]. Researchers are making an integrated effort to develop smart actuators to fabricate var-
In this paper, we focus on low-resolution human detection and propose a partial least squares-canonical correlation analysis （PLS-CCA） for outdoor video surveillance. The analysis relies on heterogeneous features fu...
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In this paper, we focus on low-resolution human detection and propose a partial least squares-canonical correlation analysis （PLS-CCA） for outdoor video surveillance. The analysis relies on heterogeneous features fusion-based human detection method. The proposed method can not only explore the relation between two individual heterogeneous features as much as possible, but also can robustly describe the visual appearance of humans with complementary information. Compared with some other methods, the experimental results show that the proposed method is effective and has a high accuracy, precision, recall rate and area under curve （AUC） value at the same time, and offers a discriminative and stable recognition performance.
In this paper, we further explore multimodal locomotion via an updated robotic fish model based on Esox lucius. Besides the improved actuation properties like higher torque servomotors and powerful electronics,the rob...
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In this paper, we further explore multimodal locomotion via an updated robotic fish model based on Esox lucius. Besides the improved actuation properties like higher torque servomotors and powerful electronics,the robotic fish has some innovative mechanical design to pursue diverse swimming modes and superior performance. Specifically, we introduced a ±50° yawing head joint that functions as the neck for enhancing turning ability. A pair of pectoral mechanisms with two DOFs per fin is constructed to achieve 3-D swimming and to enrich multiple pectoral motions. At the control level, an improved central pattern generator(CPG) model allowing for free adjustment of the phase relationship among outputs is employed to produce rhythmic signals of multimodal swimming. Extensive experiments were carried out to examine how characteristic parameters in CPGs including amplitude, frequency, and phase lag affect the swimming performance. As a result, the robotic fish successfully performed various locomotion actions such as forward swimming, backward swimming, turning, diving, surfacing, as well as three pectoral motions in the form of pitching, heaving, and *** found that small phase lag between oscillating joints which means large propulsive body wave length and undulation width could lead to a faster swimming in body and/or caudal fin(BCF) locomotion.
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 bi...
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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.
Optimal feedback design of dynamical systems is a significant topic in automatic control community and information *** for nonlinear systems,optimal control design always leads to coping with the nonlinear Hamilton-Ja...
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Optimal feedback design of dynamical systems is a significant topic in automatic control community and information *** for nonlinear systems,optimal control design always leads to coping with the nonlinear Hamilton-Jacobi-Bellman ***,it is intractable to acquire the analytic solution of the nonlinear Hamilton-JacobiBellman equation for general nonlinear systems.
In this paper, an optimal tracking control scheme is proposed for a class of discrete-time chaotic systems using the approximation-error-based adaptive dynamic programming （ADP） algorithm. Via the system transformat...
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In this paper, an optimal tracking control scheme is proposed for a class of discrete-time chaotic systems using the approximation-error-based adaptive dynamic programming （ADP） algorithm. Via the system transformation, the optimal tracking problem is transformed into an optimal regulation problem, and then the novel optimal tracking control method is proposed. It is shown that for the iterative ADP algorithm with finite approximation error, the iterative performance index functions can converge to a finite neighborhood of the greatest lower bound of all performance index functions under some convergence conditions. Two examples are given to demonstrate the validity of the proposed optimal tracking control scheme for chaotic systems.
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