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检索条件"机构=the State Key Laboratory of Robotics and the Key Laboratory of Networked Control Systems"

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ZG tracking control of 3-input 3-output nonlinear system with GD used additionally once more

ZG tracking control of 3-input 3-output nonlinear system wit...

引用

International Workshop on Advanced Computational Intelligence (IWACI)

作者： Yunong Zhang Yinyan Zhang Xiaogang Yan Binbin Qiu Hongzhou Tan School of Information Science and Technology Sun Yat-sen University (SYSU) Guangzhou China SYSU-CMU Shunde International Joint Research Institute Foshan China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou

In this paper, the tracking control problem of a 3-input 3-output nonlinear system is investigated and solved. By adopting and generalizing Zhang-gradient (ZG) method, as the novel combination of Zhang dynamics (ZD) and gradient dynamics (GD), in a quite different way (i.e., with GD used additionally once more), a ZG controller group is designed and proposed for the tracking control of the aforementioned system. Furthermore, simulation results substantiate the efficacy of the proposed controller group in fulfilling the tracking control task of the 3-input 3-output (3I3O) system.

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Complete theory for E47 and 94LVI algorithms solving inequality-and-bound constrained quadratic program efficiently

Complete theory for E47 and 94LVI algorithms solving inequal...

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Chinese Automation Congress (CAC)

作者： Yunong Zhang Jian Li Mingzhi Mao Weibing Li Senbo Fu Ministry of Education Key Laboratory of Autonomous Systems and Networked Control Guangzhou China SYSU-CMU Shunde International Joint Research Institute Shunde China School of Information Science and Technology Sun Yat-sen University Guangzhou China

ISBN: (纸本)9781467371902

This paper presents the relatively complete theory for the two new numerical algorithms, i.e., E47 algorithm and 94LVI algorithm, for solving the quadratic program (QP) subject to inequality and bound constraints efficiently. Specifically, via the important “Bridge” theorems and with their proofs provided, the QP problem is converted equivalently into a piecewise-linear projection equation (PLPE). The E47 and 94LVI algorithms are thus developed to solve the PLPE and also the QP. Note that, compared with the previous achievements with only the sufficiency proved, strict proofs (i.e., both the sufficiency proofs and the necessity proofs) of the “Bridge” theorems are firstly presented. Besides, the convergence property of the two algorithms is analyzed in the paper, and theoretical proofs ensure the global linear convergence of the two algorithms about the final decision variable vector x, instead of the primal-dual decision variable vector y.

关键词： Bridges Algorithm design and analysis Convergence Upper bound Manipulators Mathematical model Linear matrix inequalities

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Warming substantiated by multiple sine functions decomposition of multiple cities' temperature data

Warming substantiated by multiple sine functions decompositi...

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Chinese Automation Congress (CAC)

作者： Yunong Zhang Jingyao Ma Binbin Qiu Sitong Ding Zhi Yang Ministry of Education Key Laboratory of Autonomous Systems and Networked Control Guangzhou China SYSU-CMU Shunde International Joint Research Institute Foshan China School of Information Science and Technology Sun Yat-sen University Guangzhou China

In recent years, extensive efforts have been committed to the temperature forecast work, and more and more studies have indicated that the temperature is rising. For the purpose of forecasting long-term temperature trend, a temperature forecast method named multiple sine functions decomposition (MSFD) method is presented in this paper. Based on the numerical experiments for 12 Asia-Pacific (APAC) cities, the efficacy of the MSFD method and the warming trend of APAC region are substantiated. The core concept of the MSFD method is that, by decomposing a historical temperature sequence into sine waveforms, multiple sine functions are thus obtained and applied to forecasting the future temperature trend. Different degrees of warming in the ensuing 200 years are forecasted from the results of numerical experiments. In addition, we find that the high-latitude cities are generally more evident in terms of temperature change compared with those low-latitude cities. In summary, with the most possibility, the general temperature trend of APAC region is upward.

关键词： Market research Ocean temperature Cities and towns Temperature distribution Forecasting Temperature control

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Tracking and stabilizing Chen chaotic system via one multiplicative coefficient as Zhang-gradient control input

Tracking and stabilizing Chen chaotic system via one multipl...

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International Workshop on Advanced Computational Intelligence (IWACI)

作者： Yunong Zhang Zeqi Chen Yinyan Zhang Tianjian Qiao Hongzhou Tan School of Information Science and Technology Sun Yat-sen University (SYSU) Guangzhou China SYSU-CMU Shunde International Joint Research Institute Foshan China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou

This paper considers solving the tracking and stabilizing control problems of the Chen chaotic system with multiplicative inputs. By using the Zhang-gradient (ZG) method, which combines Zhang dynamics (ZD) and gradient dynamic (GD), a ZG controller is obtained for solving the problems above. Moreover, another new ZG controller is designed by using the ZG method again. Simulation results further show the effectiveness and high efficiency of the ZG controllers.

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Inverse-free solution of Z1G1 type to acceleration-level inverse kinematics of redundant robot manipulators

Inverse-free solution of Z1G1 type to acceleration-level inv...

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International Workshop on Advanced Computational Intelligence (IWACI)

作者： Ying Wang Xiaogang Yan Liangyu He Hongzhou Tan Yunong Zhang School of Information Science and Technology Sun Yat-sen University (SYSU) Guangzhou China SYSU-CMU Shunde International Joint Research Institute Foshan China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou

In past decades, the online solution of inverse kinematics (IK) has always been a mathematically troublesome problem for redundant robot manipulators. Besides, the traditional IK approaches, such as the pseudo-inverse method, have to calculate the computationally expensive inverse (specifically, pseudo-inverse) of Jacobian matrix. To drastically and effectively avoid the Jacobian inversion and to obtain the accurate solution of the time-varying IK problem for redundant robot manipulators, a special type of inverse-free solution, namely of Z1G1 type, is thus proposed and investigated at the joint-acceleration level in this paper. In addition, we conduct the path-tracking simulations performed on three-link, four-link and five-link planar robot manipulators to substantiate the effectiveness and accuracy of such an inverse-free solution. Moreover, the experiment based on a six-link redundant robot manipulator hardware system illustrates the physical realizability of the proposed novel solution for handling the time-varying IK problem of the redundant robot manipulator(s) in an inverse-free manner.

关键词： Robots Joints Hardware Kinematics Acceleration

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Zhang neuronet solving complex-valued time-varying linear inequalities

Zhang neuronet solving complex-valued time-varying linear in...

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International Conference on Information Science and Technology (ICIST)

作者： Dongsheng Guo Yaqiong Ding Xiaodong Li Senbo Fu Yunong Zhang School of Information Science and Technology Sun Yat-sen University (SYSU) Guangzhou China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou China SYSU-CMU Shunde International Joint Research Institute Shunde China

In this paper, a special method called Zhang neuronet (ZN) is proposed and investigated for online solution of complex-valued time-varying linear inequalities (CVTVLI). Instead of employing a norm-based energy function in traditional gradient neuronet (GN) and related methods, the given ZN model is designed using a vector-valued error function and takes advantage of the first-order time-derivative information of time-varying coefficients involved in CVTVLI. Through adjusting the value of design parameter γ appropriately, superior convergence performance is achieved for the proposed ZN model for dealing with such a time-varying problem. Then, theoretical and simulative results are given to illustrate and substantiate the convergence property of the proposed ZN model. Besides, a GN model is developed and exploited to for the same CVTVLI solving. The comparison on transient behaviors of these two models further shows the efficacy and superiority of the proposed ZN model.

关键词： Process control Neural networks

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Use of WASD neuronet in projecting the population of Oceania based on 1000-year historical data

Use of WASD neuronet in projecting the population of Oceania...

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Chinese Automation Congress (CAC)

作者： Yunong Zhang Yaqiong Ding Jingyao Ren Xiaodong Li Hongzhou Tan Ministry of Education Key Laboratory of Autonomous Systems and Networked Control Guangzhou China SYSU-CMU Shunde International Joint Research Institute Shunde China School of Information Science and Technology Sun Yat-sen University Guangzhou Guangdong China

ISBN: (纸本)9781467371902

With growing economic and political influence in the world, the important role played by Oceania in population issues should not be neglected. So it is very important and urgent to find an effective way to make a proper population projections. Nonetheless, the traditional methods focused on fertility and mortality may lead to the lack of all-sidedness in projection results. We realize that the historical data contain the internal mechanism of the population development, and the neuronet performs well with nonlinear data and the multifactor system. Therefore, in this report, we construct a 3-layer feed-forward neuronet equipped with a weights-and-structure-determination (WASD) algorithm to learn the historical data and project the population. With the neuronet well trained by over 1000-year historical data, we successfully project that the future Oceania population will keep a steady increasing trend in the coming fifteen years.

关键词： Sociology Statistics Neurons Training Testing Market research Prediction algorithms

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Near future prediction of European population through Chebyshev-activation WASD neuronet

Near future prediction of European population through Chebys...

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International Conference on Intelligent control and Information Processing (ICICIP)

作者： Yunong Zhang Jinjin Wang Qingkai Zeng Heng Qiu Hongzhou Tan Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou China SYSU-CMU Shunde International Joint Research Institute Foshan China School of Information Science and Technology Sun Yat-sen University (SYSU) Guangzhou China

ISBN: (纸本)9781479917181

With the world population increasing rapidly, the conflicts between the population and limited resources have become more and more severe. Population growth is a root cause of many environmental and social problems. Therefore, it is of vital importance to make population predictions. However, predictions based on standard cohort-component method fails to consider all relevant impact factors and may neglect some important uncertainty factors. To overcome the inherent limitations, in this article, we present a Chebyshev-activation WASD neuronet approach for the population prediction. This neuronet method is applied to predicting European population, with numerous numerical experiments conducted as a research basis to guarantee the feasibility and validity of our approach. It is predicted with the most possibility that European population will decrease in the near future.

关键词： Sociology Statistics Europe Market research Neurons Chebyshev approximation Prediction algorithms

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WASD neuronet prediction for China's population

WASD neuronet prediction for China's population

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International Conference on Information and Automation (ICIA)

作者： Yunong Zhang Jianxi Liu Xiaogang Yan Binbin Qiu Tianjian Qiao Ministry of Education Key Laboratory of Autonomous Systems and Networked Control Guangzhou China SYSU-CMU Shunde International Joint Research Institute Shunde China School of Information Science and Technology Sun Yat-sen University (SYSU) Guangzhou China

ISBN: (纸本)9781467391054

As one of the most important factors influencing the development potential of the country, China's population attracts considerable attention. Some official organizations regularly publish the predictions of China's population every calendar year. However, most of the predictions use the standard cohort-component method, which does not allow for all relevant impact factors and may lose sight of some important uncertainty factors. To overcome the aforementioned limitations, in this paper, we present a 3-layer feedforward neuronet (i.e., neural network) approach equipped with a weights-and-structuredetermination (WASD) algorithm for the population prediction of China. Numerical experiments further substantiate the feasibility of such an approach and indicate that there are three kinds of possibilities for the progress of China's population in the next decade. With the highest possibility, China's population will keep continual increase with a gentle growth rate.

关键词： Sociology Statistics Market research Predictive models Neurons Testing Computational modeling

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New DTZNN model for future minimization with cube steady-state error pattern using Taylor finite-difference formula

New DTZNN model for future minimization with cube steady-sta...

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International Conference on Intelligent control and Information Processing (ICICIP)

作者： Yunong Zhang Ying Fang Bolin Liao Tianjian Qiao Hongzhou Tan Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou China SYSU-CMU Shunde International Joint Research Institute Foshan China School of Information Science and Technology Sun Yat-sen University (SYSU) Guangzhou China

In this paper, a discrete-time Zhang neural network (DTZNN) model, discretized from continuous-time Zhang neural network, is proposed and investigated for performing the online future minimization (OFM). In order to approximate more accurately the 1st-order derivative in computation and discretize more effectively the continuous-time Zhang neural network, a new Taylor-type numerical differentiation formula, together with the optimal sampling-gap rule, is presented and utilized to obtain the Taylor-type DTZNN model. For comparison, Euler-type DTZNN model and Newton iteration, with an interesting link being found, are also presented. Moreover, theoretical results of stability and convergence are presented, which show that the steady-state residual errors of the presented Taylor-type DTZNN model, Euler-type DTZNN model and Newton iteration have a pattern of 0(t3), 0(t2) and 0(t), respectively, with t denoting the sampling gap. Numerical experimental results further substantiate the effectiveness and advantages of the Taylor-type DTZNN model for solving the OFM problem.

关键词： Numerical models Minimization Computational modeling Mathematical model Neural networks Convergence Steady-state

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