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A Model Reference Adaptive controller with Feedforward Decoupling for Active Magnetic Bearing Rotor System 4

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A Model Reference Adaptive Controller with Feedforward Decou...

4th IEEE Advanced Information Technology, Electronic and Automation control Conference, IAEAC 2019

作者： Yi, Jian Ren, Gui-Ping Zhang, Hai-Tao Wu, Yue Huazhong University of Science and Technology School of Artificial Intelligence and Automation Key Laboratory of Image Processing and Intelligent Control Wuhan430074 China

ISBN: (纸本)9781728119076

Active magnetic bearing (AMB) rotor system is widely applied in the industry for its remarkable advantages. However, it is a typical open-loop unstable mechatronics system suffering from nonlinear and couple characteristic. In this paper, the feedforward decoupling method is used to deal with the couple relationship of different axes. And the model reference adaptive control (MRAC) method is applied to improve the control performance and robustness and overcome the uncertainties. This control method makes the system output reach to the reference model by the designed adaptive law. Simulation results illustrate the effectiveness of the proposed scheme. © 2019 IEEE.

关键词： Model reference adaptive control

Optimizing Neural Network image Classification with Fractional Order Gradient Methods

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SSRN

SSRN 2023年

作者： Zhao, Haiming Chen, Jiejie Jiang, Ping Zeng, Zhigang Fan, Rui Yang, Honggang School of Computer and Information Engineering Hubei Normal University Huangshi435000 China School of Automation Wuhan University of Technology Wuhan430000 China School of Computer Hubei PolyTechnic University Huangshi435000 China Faculty of Artificial Intelligence Education Central China Normal University Wuhan430000 China School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430000 China Key Laboratory of Image Information Processing and Intelligent Control Ministry of Education of China Wuhan430000 China

As deep learning technology increasingly permeates various fields, the significance of optimization algorithms in neural network training has become more prominent. Typically, the training of deep learning networks relies on gradient descent optimizers based on calculus computations. Traditional integer-order calculus optimizers often fall short when dealing with complex and subtle data. To overcome these limitations, we innovatively utilized the Grünwald-Letnikov and Caputo definitions of fractional calculus to develop two new optimization algorithms: Fractional Order Adagrad (FAdagrad) and Fractional Order Adam (FAdam). These algorithms have been proven to converge to extremal points.A key advantage of our methods is their capability in handling complex, high-dimensional tasks, such as artistic painting image classification, where they exhibit exceptional performance in recognizing and processing subtle differences. The robustness and adaptability of these algorithms were further validated through experiments on the CIFAR-100 dataset. The results demonstrate the efficacy of fractional order optimizers in enhancing training efficiency and accuracy. © 2023, The Authors. All rights reserved.

关键词： image classification

Double Backpropagation for Training Autoencoders against Adversarial Attack

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arXiv 2020年

作者： Sun, Chengjin Chen, Sizhe Huang, Xiaolin Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University MOE Key Laboratory of System Control and Information Processing 800 Dongchuan Road Shanghai200240 China

Deep learning, as widely known, is vulnerable to adversarial samples. This paper focuses on the adversarial attack on autoencoders. Safety of the autoencoders (AEs) is important because they are widely used as a compression scheme for data storage and transmission, however, the current autoencoders are easily attacked, i.e., one can slightly modify an input but has totally different codes. The vulnerability is rooted the sensitivity of the autoencoders and to enhance the robustness, we propose to adopt double backpropagation (DBP) to secure autoencoder such as VAE and DRAW. We restrict the gradient from the reconstruction image to the original one so that the autoencoder is not sensitive to trivial perturbation produced by the adversarial attack. After smoothing the gradient by DBP, we further smooth the label by Gaussian Mixture Model (GMM), aiming for accurate and robust classification. We demonstrate in MNIST, CelebA, SVHN that our method leads to a robust autoencoder resistant to attack and a robust classifier able for image transition and immune to adversarial attack if combined with GMM. Copyright © 2020, The Authors. All rights reserved.

关键词： Gaussian distribution

Global Ultimate Mittag-Leffler Lag Quasi-Synchronization of Delayed Fractional-Order Memristive Neural Networks with Switching Jumps Mismatch via Pinning control

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Global Ultimate Mittag-Leffler Lag Quasi-Synchronization of ...

第三十九届中国控制会议

作者： Jia Jia Zhigang Zeng School of Artificial Intelligence and Automation the Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology School of Control Science and Engineering Shandong University

In this paper, a novel pinning controller, which is applied to the selected partial neurons with partial errors needed, is designed for global ultimate Mittag-Leffler lag quasi-synchronization(GUMLQS) of delayed fractional-order memristive neural networks(FMNNs) with switching jumps mismatch. Since the right-hand sides of the equations of FMNNs are discontinuous,FMNNs have no solution in the ordinary sense, and Filippov solutions are adopted for FMNNs. With the assistance of fractional Halanay inequality, a Lyapunov function in quadratic form and the theory of fractional derivative, an LMI-based GUMLQS criterion is derived. For a prescribed GUMLQS error bound, the control gain matrices can be calculated out via a group of ***, the sufficient condition for the feasibility of the LMIs is obtained, which is an important basis for the selection of controlled neurons. Finally, a numerical example shows that the designed pinning controller can achieve GUMLQS between master-slave FMNNs with the prescribed ultimate error bound.

关键词： Memristive Neural Networks(MNNs) Fractional-Order Pinning control Global Ultimate Mittag-Leffler Lag Quasi-Synchronization(GUMLQS)

A self-supervised learning-based 6-DOF grasp planning method for manipulator

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arXiv 2021年

作者： Peng, Gang Ren, Zhenyu Wang, Hao Li, Xinde School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Key Laboratory of Image Processing and Intelligent Control Ministry of Education Wuhan430074 China IEEE senior member School of Automation South East University Nanjing China

To realize a robust robotic grasping system for unknown objects in an unstructured environment, large amounts of grasp data and 3D model data for the object are required, the sizes of which directly affect the rate of successful grasps. To reduce the time cost of data acquisition and labeling and increase the rate of successful grasps, we developed a self-supervised learning mechanism to control grasp tasks performed by manipulators. First, a manipulator automatically collects the point cloud for the objects from multiple perspectives to increase the efficiency of data acquisition. The complete point cloud for the objects is obtained by utilizing the hand-eye vision of the manipulator, and the TSDF algorithm. Then, the point cloud data for the objects is used to generate a series of six-degrees-of-freedom grasp poses, and the force-closure decision algorithm is used to add the grasp quality label to each grasp pose to realize the automatic labeling of grasp data. Finally, the point cloud in the gripper closing area corresponding to each grasp pose is obtained;it is then used to train the grasp-quality classification model for the manipulator. The results of data acquisition experiments demonstrate that the proposed method allows high-quality data to be obtained. The simulated results prove the effectiveness of the proposed grasp-data acquisition method. The results of performing actual grasping experiments demonstrate that the proposed self-supervised learning method can increase the rate of successful grasps for the manipulator. Copyright © 2021, The Authors. All rights reserved.

关键词： Manipulators

CMCRD: Cross-Modal Contrastive Representation Distillation for Emotion Recognition

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arXiv 2025年

作者： Kan, Siyuan Wu, Huanyu Cui, Zhenyao Huang, Fan Xu, Xiaolong Wu, Dongrui Key Laboratory of Image Processing and Intelligent Control Ministry of Education School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Wuhan Institute of Digital Engineering Wuhan430074 China Shanghai Jiao Tong University Shanghai200240 China

Emotion recognition is an important component of affective computing, and also human-machine interaction. Unimodal emotion recognition is convenient, but the accuracy may not be high enough;on the contrary, multi-modal emotion recognition may be more accurate, but it also increases the complexity and cost of the data collection system. This paper considers cross-modal emotion recognition, i.e., using both electroencephalography (EEG) and eye movement in training, but only EEG or eye movement in test. We propose cross-modal contrastive representation distillation (CMCRD), which uses a pre-trained eye movement classification model to assist the training of an EEG classification model, improving feature extraction from EEG signals, or vice versa. During test, only EEG signals (or eye movement signals) are acquired, eliminating the need for multi-modal data. CMCRD not only improves the emotion recognition accuracy, but also makes the system more simplified and practical. Experiments using three different neural network architectures on three multi-modal emotion recognition datasets demonstrated the effectiveness of CMCRD. Compared with the EEG-only model, it improved the average classification accuracy by about 6.2%. © 2025, CC BY.

关键词： Modal analysis

Distributed second order sliding mode secondary frequency control for HVDC system

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Distributed second order sliding mode secondary frequency co...

Chinese Automation Congress (CAC)

作者： Yang-Ming Dou Ming Chi Zhi-Wei Liu Key Laboratory of Image Processing and Intelligent Control Ministry of Education College of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

This paper studies the secondary frequency control among non-synchronous AC areas interconnected by High Voltage Direct Current (HVDC). A distributed second order sliding mode control scheme is adopted to secondary frequency control of HVDC transmission systems to adjust the frequency of power grid to rated value, which solves the frequency disturbance caused by load power change of the DC power grid. And on this basis, the power generation in each region is reasonably distributed, so as to minimize the cost of power generation. Finally, the stability of the system is proved on an appropriate sliding manifold.

关键词： Frequency control HVDC transmission Power system stability Economics Sliding mode control Power system dynamics Manifolds

A memristor-based generalization and differentiation circuit design and the application in recognition

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A memristor-based generalization and differentiation circuit...

第三十九届中国控制会议

作者： Meijia Shang Xiaoping Wang Mian Li the School of Artificial Intelligence and Automation Huazhong University of Science and Technology IEEE the Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China

The traditional Pavlov associative memory circuit realizes the law of learning and forgetting in classical conditioned reflex. In addition, the law of generalization and differentiation also belongs to classical conditioned reflex, so the process of associative memory can be more effectively simulated by adding generalization and differentiation theory on the basis of traditional associative memory. In this paper, a memristor-based circuit is designed to implement generalization and differentiation based on Pavlov associative memory. The circuit can be applied to simple classification recognition. Based on the features of objects as input, the output of the circuit is used as the classification result to achieve the function of classification and recognition. Finally,the accuracy of classification recognition on the generalization and differentiation circuit proposed in this paper can be verified by the simulation results in PSPICE.

关键词： Memristor generalization differentiation Pavlov associative memory recognition

Integrating Informativeness, Representativeness and Diversity in Pool-Based Sequential Active Learning for Regression

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arXiv 2020年

作者： Liu, Ziang Wu, Dongrui Ministry of Education Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China

—In many real-world machine learning applications, unlabeled samples are easy to obtain, but it is expensive and/or time-consuming to label them. Active learning is a common approach for reducing this data labeling effort. It optimally selects the best few samples to label, so that a better machine learning model can be trained from the same number of labeled samples. This paper considers active learning for regression (ALR) problems. Three essential criteria – informativeness, representativeness, and diversity – have been proposed for ALR. However, very few approaches in the literature have considered all three of them simultaneously. We propose three new ALR approaches, with different strategies for integrating the three criteria. Extensive experiments on 12 datasets in various domains demonstrated their effectiveness. Copyright © 2020, The Authors. All rights reserved.

关键词： Regression analysis