Pub Date : 2013-01-01DOI: 10.3182/20130902-3-CN-3020.00093
Weisong Tian, C. Qian, Lin Chai, J. Zhai
Abstract This paper studies the problem of global finite-time stabilization of a class of nonsmooth upper-triangular systems with relaxed conditions on the nonlinearities. Inspired by the controller design methods in Qian and Lin (2012), a finite-time stabilizer and a new Lyapunov function are recursively constructed in a bottom-to-up manner.
{"title":"Global Finite-Time Stabilization of a Class of Non-Smooth Upper-Triangular Systems","authors":"Weisong Tian, C. Qian, Lin Chai, J. Zhai","doi":"10.3182/20130902-3-CN-3020.00093","DOIUrl":"https://doi.org/10.3182/20130902-3-CN-3020.00093","url":null,"abstract":"Abstract This paper studies the problem of global finite-time stabilization of a class of nonsmooth upper-triangular systems with relaxed conditions on the nonlinearities. Inspired by the controller design methods in Qian and Lin (2012), a finite-time stabilizer and a new Lyapunov function are recursively constructed in a bottom-to-up manner.","PeriodicalId":90521,"journal":{"name":"IEEE International Conference on Systems Biology : [proceedings]. IEEE International Conference on Systems Biology","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91134269","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-01-01DOI: 10.3182/20130902-3-CN-3020.00086
Xiangyu Wang, Shihua Li, C. Qian
Abstract In this paper, we consider the global output feedback stabilization problem for a class of nonlinear planar systems under a more general growth condition. The nonlinearities in such a system are bounded by both lower-order and higher-order terms with an output-dependent growth rate. This problem is solved by integrating the feedback domination technique and a novel dual observer approach, where two individual observers are constructed in parallel with one estimating the linear part of the unmeasurable state and the other estimating the higher-order part. Moreover, the presented observers and the output feedback controller all have nonlinear gains. Simulations illustrate the effectiveness of the proposed stabilization scheme.
{"title":"Global Output Feedback Stabilization for a Class of Nonlinear Planar Systems with Output-Dependent Growth Rates","authors":"Xiangyu Wang, Shihua Li, C. Qian","doi":"10.3182/20130902-3-CN-3020.00086","DOIUrl":"https://doi.org/10.3182/20130902-3-CN-3020.00086","url":null,"abstract":"Abstract In this paper, we consider the global output feedback stabilization problem for a class of nonlinear planar systems under a more general growth condition. The nonlinearities in such a system are bounded by both lower-order and higher-order terms with an output-dependent growth rate. This problem is solved by integrating the feedback domination technique and a novel dual observer approach, where two individual observers are constructed in parallel with one estimating the linear part of the unmeasurable state and the other estimating the higher-order part. Moreover, the presented observers and the output feedback controller all have nonlinear gains. Simulations illustrate the effectiveness of the proposed stabilization scheme.","PeriodicalId":90521,"journal":{"name":"IEEE International Conference on Systems Biology : [proceedings]. IEEE International Conference on Systems Biology","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77603893","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-01-01DOI: 10.3182/20130902-3-CN-3020.00056
Baobin Miao, Tie-shan Li, W. Luo
Abstract A neural network controller is presented for tracking control of underwater vehicles with uncertainties. By employing the neural network method to account for system uncertainties, the proposed scheme is developed by combining “dynamic surface control(DSC)”. Consequently, the problem of “explosion of complexity” inherent in the conventional backstepping method is avoided. Modeling errors and environmental disturbance are considered in the mathematical model. A two-layer neural network is introduced to compensate the modeling errors, while the effect of the environmental disturbance is addressed by using the property of hyperbolic tangent function. Under the developed tracking control approach, semi-global uniform boundedness of all closed-loop signals are guaranteed via Lyapunov analysis. Simulation studies are given to illustrate the effectiveness of the proposed tracking control.
{"title":"Neural Network Based Robust Adaptive Dynamic Surface Control for AUVs","authors":"Baobin Miao, Tie-shan Li, W. Luo","doi":"10.3182/20130902-3-CN-3020.00056","DOIUrl":"https://doi.org/10.3182/20130902-3-CN-3020.00056","url":null,"abstract":"Abstract A neural network controller is presented for tracking control of underwater vehicles with uncertainties. By employing the neural network method to account for system uncertainties, the proposed scheme is developed by combining “dynamic surface control(DSC)”. Consequently, the problem of “explosion of complexity” inherent in the conventional backstepping method is avoided. Modeling errors and environmental disturbance are considered in the mathematical model. A two-layer neural network is introduced to compensate the modeling errors, while the effect of the environmental disturbance is addressed by using the property of hyperbolic tangent function. Under the developed tracking control approach, semi-global uniform boundedness of all closed-loop signals are guaranteed via Lyapunov analysis. Simulation studies are given to illustrate the effectiveness of the proposed tracking control.","PeriodicalId":90521,"journal":{"name":"IEEE International Conference on Systems Biology : [proceedings]. IEEE International Conference on Systems Biology","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82060341","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-01-01DOI: 10.3182/20130902-3-CN-3020.00078
Yangsong Zhang, Peng Xu, D. Yao
Abstract In this study, we used the graph theoretical analysis to investigate the association between the functional networks entrained by periodic stimuli and the steady state visual evoked potentials (SSVEP) responses. Using 12.5Hz and 16.6Hz, we found that the SSVEP responses were positively correlated with the clustering coefficient, global and local efficiencies, while negatively correlated with the characteristic path length of the functional networks. These findings indicated that larger SSVEP responses correspond with better functional networks structures. This study may bring new insights into understanding brain mechanisms when using SSVEPs as frequency tags.
{"title":"SSVEP Responses Reveal the Efficiency of Functional Brain Network Entrained by the Flickering Stimulus","authors":"Yangsong Zhang, Peng Xu, D. Yao","doi":"10.3182/20130902-3-CN-3020.00078","DOIUrl":"https://doi.org/10.3182/20130902-3-CN-3020.00078","url":null,"abstract":"Abstract In this study, we used the graph theoretical analysis to investigate the association between the functional networks entrained by periodic stimuli and the steady state visual evoked potentials (SSVEP) responses. Using 12.5Hz and 16.6Hz, we found that the SSVEP responses were positively correlated with the clustering coefficient, global and local efficiencies, while negatively correlated with the characteristic path length of the functional networks. These findings indicated that larger SSVEP responses correspond with better functional networks structures. This study may bring new insights into understanding brain mechanisms when using SSVEPs as frequency tags.","PeriodicalId":90521,"journal":{"name":"IEEE International Conference on Systems Biology : [proceedings]. IEEE International Conference on Systems Biology","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87553242","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-01-01DOI: 10.3182/20130902-3-CN-3020.00116
Yu Kang, Jianfei Huang, Yun‐Bo Zhao, Guoping Liu
Abstract The available information of linear constraint in linear dynamic systems, which is often unexplored in previous works, is taken advantage of to improve the accuracy of the parameter estimation, particularly in the presence of randomly missing measurements. Specifically, a Kalman filter-based identification for systems without constraint but with the randomly missing measurements is first introduced. Then the result is extended to systems with linear constraint under normal conditions. By doing so we show that the accuracy of the estimation is improved by taking the constraint into account, both theoretically and numerically.
{"title":"Kalman Filter-Based Identification of Systems with Randomly Missing Measurements and Linear Constraints","authors":"Yu Kang, Jianfei Huang, Yun‐Bo Zhao, Guoping Liu","doi":"10.3182/20130902-3-CN-3020.00116","DOIUrl":"https://doi.org/10.3182/20130902-3-CN-3020.00116","url":null,"abstract":"Abstract The available information of linear constraint in linear dynamic systems, which is often unexplored in previous works, is taken advantage of to improve the accuracy of the parameter estimation, particularly in the presence of randomly missing measurements. Specifically, a Kalman filter-based identification for systems without constraint but with the randomly missing measurements is first introduced. Then the result is extended to systems with linear constraint under normal conditions. By doing so we show that the accuracy of the estimation is improved by taking the constraint into account, both theoretically and numerically.","PeriodicalId":90521,"journal":{"name":"IEEE International Conference on Systems Biology : [proceedings]. IEEE International Conference on Systems Biology","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79598866","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-01-01DOI: 10.3182/20130902-3-CN-3020.00181
Shuang Zhang, Wei He, Chang Liu, Deqing Huang
Abstract In this paper, the end-point regulation problem is investigated for a flexible robotic manipulator under the spatiotemporally varying disturbance. By using the Hamilton's principle, the dynamics of the flexible robotic manipulator are represented by one partial differential equation (PDE) and five ordinary differential equations (ODEs). Boundary control is developed to drive the manipulator to the desired set-point and simultaneously suppress the vibrations of the flexible link. Considering the unknown spatiotemporally varying disturbance, the developed boundary control schemes achieve uniform boundedness of the steady state error between the boundary payload and the desired position. Simulations are provided to illustrate the applicability and effectiveness of the proposed control.
{"title":"End-Point Regulation of a Flexible Robotic Manipulator under the Unknown Spatiotemporally Varying Disturbance","authors":"Shuang Zhang, Wei He, Chang Liu, Deqing Huang","doi":"10.3182/20130902-3-CN-3020.00181","DOIUrl":"https://doi.org/10.3182/20130902-3-CN-3020.00181","url":null,"abstract":"Abstract In this paper, the end-point regulation problem is investigated for a flexible robotic manipulator under the spatiotemporally varying disturbance. By using the Hamilton's principle, the dynamics of the flexible robotic manipulator are represented by one partial differential equation (PDE) and five ordinary differential equations (ODEs). Boundary control is developed to drive the manipulator to the desired set-point and simultaneously suppress the vibrations of the flexible link. Considering the unknown spatiotemporally varying disturbance, the developed boundary control schemes achieve uniform boundedness of the steady state error between the boundary payload and the desired position. Simulations are provided to illustrate the applicability and effectiveness of the proposed control.","PeriodicalId":90521,"journal":{"name":"IEEE International Conference on Systems Biology : [proceedings]. IEEE International Conference on Systems Biology","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90430055","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-01-01DOI: 10.3182/20130902-3-CN-3020.00159
Huiqin Zhan, S. Li, Yunwu Peng
Abstract In this paper, a wideband and frequency adjustable noise signal generator is studied. The noise signal of this noise generator is produced in analog way and modulated by digital method. The FM noise signal is generated with the help of the direct digital synthesis (DDS) technology. Different frequency noise signals can be generated by changing the center frequency operation code. The signal bandwidth of the noise signal generator is 40MHz, and the center frequency of the signal can be adjusted in the 80 to 120 MHz range in 1 MHz interval.
{"title":"FM Noise Generator Based on Hybrid Method","authors":"Huiqin Zhan, S. Li, Yunwu Peng","doi":"10.3182/20130902-3-CN-3020.00159","DOIUrl":"https://doi.org/10.3182/20130902-3-CN-3020.00159","url":null,"abstract":"Abstract In this paper, a wideband and frequency adjustable noise signal generator is studied. The noise signal of this noise generator is produced in analog way and modulated by digital method. The FM noise signal is generated with the help of the direct digital synthesis (DDS) technology. Different frequency noise signals can be generated by changing the center frequency operation code. The signal bandwidth of the noise signal generator is 40MHz, and the center frequency of the signal can be adjusted in the 80 to 120 MHz range in 1 MHz interval.","PeriodicalId":90521,"journal":{"name":"IEEE International Conference on Systems Biology : [proceedings]. IEEE International Conference on Systems Biology","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81337277","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-01-01DOI: 10.3182/20130902-3-CN-3020.00119
Xiong Yang, Derong Liu, Qinglai Wei
Abstract This paper develops an adaptive optimal control for the infinite-horizon cost of unknown nonaffine nonlinear continuous-time systems with control constraints. A recurrent neural network (NN) is constructed to identify the unknown system dynamics with stability proof. Then, two feedforward NNs are used as the actor and the critic to approximate the optimal control and the optimal value, respectively. By using this architecture, the action NN and the critic NN are tuned simultaneously, without the requirement of the knowledge of system dynamics. In addition, the weights of the action NN and the critic NN are guaranteed to be uniformly ultimately bounded based on Lyapunov's direct method. A simulation example is provided to verify the effectiveness of the developed theoretical results.
{"title":"Neuro-Optimal Control of Unknown Nonaffine Nonlinear Systems with Saturating Actuators","authors":"Xiong Yang, Derong Liu, Qinglai Wei","doi":"10.3182/20130902-3-CN-3020.00119","DOIUrl":"https://doi.org/10.3182/20130902-3-CN-3020.00119","url":null,"abstract":"Abstract This paper develops an adaptive optimal control for the infinite-horizon cost of unknown nonaffine nonlinear continuous-time systems with control constraints. A recurrent neural network (NN) is constructed to identify the unknown system dynamics with stability proof. Then, two feedforward NNs are used as the actor and the critic to approximate the optimal control and the optimal value, respectively. By using this architecture, the action NN and the critic NN are tuned simultaneously, without the requirement of the knowledge of system dynamics. In addition, the weights of the action NN and the critic NN are guaranteed to be uniformly ultimately bounded based on Lyapunov's direct method. A simulation example is provided to verify the effectiveness of the developed theoretical results.","PeriodicalId":90521,"journal":{"name":"IEEE International Conference on Systems Biology : [proceedings]. IEEE International Conference on Systems Biology","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77377994","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-01-01DOI: 10.3182/20130902-3-CN-3020.00157
Xifeng Li, Yongle Xie
Abstract Probability density function (PDF) plays a vital role in system analysis involving stochastic factors. A good estimate of true PDF conditioned under certain performance criterion could help acquire more information of the system. With help of the new information, many features of the system that we are concerning can be revealed effectively, especially for nonlinear non-Gaussian stochastic systems. In this paper, based on the Tsallis entropy, we derive a class of PDFs with explicit form called q-Gaussian PDFs. These PDFs have a parameter that indicates the fractal feature of the system. Based on the explicit form of q-Gaussian PDFs, we propose an extension of Gaussian particle filter (GPF) called q-Gaussian particle filter (q-GPF). The experimental results show that the q-GPF is a more effective method to estimate the state of nonlinear stochastic system compared with the GPF.
{"title":"Q-Gaussian Density Model and Its Application to State Estimation of Nonlinear Systems","authors":"Xifeng Li, Yongle Xie","doi":"10.3182/20130902-3-CN-3020.00157","DOIUrl":"https://doi.org/10.3182/20130902-3-CN-3020.00157","url":null,"abstract":"Abstract Probability density function (PDF) plays a vital role in system analysis involving stochastic factors. A good estimate of true PDF conditioned under certain performance criterion could help acquire more information of the system. With help of the new information, many features of the system that we are concerning can be revealed effectively, especially for nonlinear non-Gaussian stochastic systems. In this paper, based on the Tsallis entropy, we derive a class of PDFs with explicit form called q-Gaussian PDFs. These PDFs have a parameter that indicates the fractal feature of the system. Based on the explicit form of q-Gaussian PDFs, we propose an extension of Gaussian particle filter (GPF) called q-Gaussian particle filter (q-GPF). The experimental results show that the q-GPF is a more effective method to estimate the state of nonlinear stochastic system compared with the GPF.","PeriodicalId":90521,"journal":{"name":"IEEE International Conference on Systems Biology : [proceedings]. IEEE International Conference on Systems Biology","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80657416","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract Recently, the Zhang dynamics (ZD) and the gradient dynamics (GD) have been used for solving online problems, but they are usually investigated separately. In this paper, we firstly illustrate the ZD method and the GD method by employing them separately to solve the time-varying matrix inversion problem. Then, to solve the tracking-control problem of the mathematical model of the inverted pendulum on a cart (IPC) system, the ZD-based (i.e., z2g0) controller and the ZD-GD combined (i.e., z2g1) controller are designed. These two types of controllers with greatly simplified design procedure can achieve good performance in terms of tiny tracking error and quick response. The simulation results further substantiate the feasibility and superiority of the z2g0 controller and the smoother z2g1 controller for the output tracking of the mathematical model of the IPC system.
{"title":"ZG Controllers of Z2g0 and Z2g1 Types for Tracking Control of IPC Mathematical Model","authors":"Yunong Zhang, Jinhao Chen, Xiaotian Yu, Wenchao Lao, Chen Peng","doi":"10.3182/20130902-3-CN-3020.00133","DOIUrl":"https://doi.org/10.3182/20130902-3-CN-3020.00133","url":null,"abstract":"Abstract Recently, the Zhang dynamics (ZD) and the gradient dynamics (GD) have been used for solving online problems, but they are usually investigated separately. In this paper, we firstly illustrate the ZD method and the GD method by employing them separately to solve the time-varying matrix inversion problem. Then, to solve the tracking-control problem of the mathematical model of the inverted pendulum on a cart (IPC) system, the ZD-based (i.e., z2g0) controller and the ZD-GD combined (i.e., z2g1) controller are designed. These two types of controllers with greatly simplified design procedure can achieve good performance in terms of tiny tracking error and quick response. The simulation results further substantiate the feasibility and superiority of the z2g0 controller and the smoother z2g1 controller for the output tracking of the mathematical model of the IPC system.","PeriodicalId":90521,"journal":{"name":"IEEE International Conference on Systems Biology : [proceedings]. IEEE International Conference on Systems Biology","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89803690","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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