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| 2. |
- Guo, Chaoqun, et al.
(författare)
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Fixed-time safe tracking control of uncertain high-order nonlinear pure-feedback systems via unified transformation functions
- 2023
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Ingår i: Kybernetika (Praha). - : Institute of Information Theory and Automation. - 0023-5954 .- 1805-949X. ; 59:3, s. 342-364
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Tidskriftsartikel (refereegranskat)abstract
- In this paper, a fixed-time safe control problem is investigated for an uncertain high-order nonlinear pure-feedback system with state constraints. A new nonlinear transformation function is firstly proposed to handle both the constrained and unconstrained cases in a unified way. Further, a radial basis function neural network is constructed to approximate the unknown dynamics in the system and a fixed-time dynamic surface control (FDSC) technique is developed to facilitate the fixed-time control design for the uncertain high-order pure-feedback system. Combined with the proposed unified transformation function and the FDSC technique, an adaptive fixed-time control strategy is proposed to guarantee the fixed-time tracking. The novel original results of the paper allow to design the independent unified flexible fixed-time control strategy taking into account the actual possible constraints, either present or missing. Numerical examples are presented to demonstrate the proposed fixed-time tracking control strategy.
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| 3. |
- Hu, C., et al.
(författare)
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Distributed adaptive Kalman filter based on variational Bayesian technique
- 2019
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Ingår i: Control Theory and Technology. - : South China University of Technology. - 2095-6983 .- 2198-0942. ; 17:1, s. 37-47
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Tidskriftsartikel (refereegranskat)abstract
- In this paper, distributed Kalman filter design is studied for linear dynamics with unknown measurement noise variance, which modeled by Wishart distribution. To solve the problem in a multi-agent network, a distributed adaptive Kalman filter is proposed with the help of variational Bayesian, where the posterior distribution of joint state and noise variance is approximated by a free-form distribution. The convergence of the proposed algorithm is proved in two main steps: noise statistics is estimated, where each agent only use its local information in variational Bayesian expectation (VB-E) step, and state is estimated by a consensus algorithm in variational Bayesian maximum (VB-M) step. Finally, a distributed target tracking problem is investigated with simulations for illustration.
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| 4. |
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| 5. |
- Liu, Lizheng, et al.
(författare)
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A FPGA-based Hardware Accelerator for Bayesian Confidence Propagation Neural Network
- 2020
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Ingår i: 2020 IEEE Nordic Circuits and Systems Conference, NORCAS 2020 - Proceedings. - : Institute of Electrical and Electronics Engineers (IEEE).
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Konferensbidrag (refereegranskat)abstract
- The Bayesian Confidence Propagation Neural Network (BCPNN) has been applied in higher level of cognitive intelligence (e.g. working memory, associative memory). However, in the spike-based version of this learning rule the pre-, postsynaptic and coincident activity is traced in three low-passfiltering stages, the calculation processes of weight update are very computationally intensive. In this paper, a hardware architecture of the updating process for lazy update mode is proposed for updating 8 local synaptic state variables. The parallelism by decomposing the calculation steps of formulas based on the inherent data dependencies is optimized. The FPGA-based hardware accelerator of BCPNN is designed and implemented. The experimental results show the updating process on FPGA can be accomplished within 110 ns with a clock frequency of 200 MHz, the updating speed is greatly enhanced compared with the CPU test. The trade-off between performance, accuracy and resources on dedicated hardware is evaluated, and the impact of the module reuse on resource consumption and computing performance is evaluated.
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| 6. |
- Lu, Y., et al.
(författare)
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Fuzzy hegselmann-krause opinion dynamics with opinion leaders
- 2019
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Ingår i: 2019 Chinese Control Conference (CCC). ; , s. 6019-6024
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Konferensbidrag (refereegranskat)abstract
- In this paper, from the perspective of opinion dynamics theory, we investigate the intrinsic interaction principles of a group of autonomous agents and develop a fuzzy opinion dynamics model with leaders. First, this paper divides group agents into three subgroups: opinion followers, positive opinion leaders, and negative opinion leaders according to the opinion's update manner and influence. Then, we consider the uncertainty of the agents' opinion gaps and apply the Fuzzy Inference Machine to the effects of the leaders' opinions on a certain follower's opinion. The innovation of this paper is that the weight is distributed from 0 to 1 in accordance with the closeness among the opinion leaders and followers, which is closer to real life. Finally, the simulation results show that the proposed model can effectively explain the opinion interaction and evolution and conforms with the existing theoretical results in the field of opinion dynamics.
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| 7. |
- Xu, Jianqiang, et al.
(författare)
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Design of Smart Unstaffed Retail Shop Based on IoT and Artificial Intelligence
- 2020
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Ingår i: IEEE Access. - : Institute of Electrical and Electronics Engineers (IEEE). - 2169-3536. ; 8, s. 147728-147737
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Tidskriftsartikel (refereegranskat)abstract
- Unstaffed retail shops have emerged recently and been noticeably changing our shopping styles. In terms of these shops, the design of vending machine is critical to user shopping experience. The conventional design typically uses weighing sensors incapable of sensing what the customer is taking. In the present study, a smart unstaffed retail shop scheme is proposed based on artificial intelligence and the internet of things, as an attempt to enhance the user shopping experience remarkably. To analyze multiple target features of commodities, the SSD (300x300) algorithm is employed; the recognition accuracy is further enhanced by adding sub-prediction structure. Using the data set of 18, 000 images in different practical scenarios containing 20 different type of stock keeping units, the comparison experimental results reveal that the proposed SSD (300x300) model outperforms than the original SSD (300x300) in goods detection, the mean average precision of the developed method reaches 96.1% on the test dataset, revealing that the system can make up for the deficiency of conventional unmanned container. The practical test shows that the system can meet the requirements of new retail, which greatly increases the customer flow and transaction volume.
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| 8. |
- Cao, Yuexin, et al.
(författare)
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Minimal Control Placement of Turing's Model Using Symmetries
- 2023
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Ingår i: 2023 62nd IEEE Conference on Decision and Control, CDC 2023. - : Institute of Electrical and Electronics Engineers (IEEE). ; , s. 1456-1461
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Konferensbidrag (refereegranskat)abstract
- In this paper, the minimal control placement prob-lem for Turing's reaction-diffusion model is studied. Turing's model describes the process of morphogens diffusing and reacting with each other and is considered as one of the most fundamental models to explain pattern formation in a devel-oping embryo. Controlling pattern formation artificially has gained increasing attention in the field of development biology, which motivates us to investigate this problem mathematically. In this work, the two-dimensional Turing's reaction-diffusion model is discretized into square grids. The minimal control placement problem for the diffusion system is investigated first. The symmetric control sets are defined based on the symmetry of the network structure. A necessary condition is provided to guarantee controllability. Under certain circumstances, we prove that this condition is also sufficient. Then we show that the necessary condition can also be applied to the reaction-diffusion system by means of suitable extension of the symmetric control sets. Under similar circumstances, a sufficient condition is given to place the minimal control for the reaction-diffusion system.
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| 9. |
- Cao, Yuexin, et al.
(författare)
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Network Controllability of Turing Reaction and Diffusion Model
- 2022
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Ingår i: 2022 41St Chinese Control Conference (Ccc). - : IEEE. ; , s. 259-264
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Konferensbidrag (refereegranskat)abstract
- In this paper, the controllability problem of the reaction-diffusion (RD) model, or Turing model is studied. Turing model provides a valuable framework for self-organized system and has been widely used to explain to pattern formation in the real life. With the rapidly development of the biology technology, biologists are trying to control the pattern formation artificially and has achieved some progress. However, the influence that exerted on the pattern formation by the external factors, such as light and temperature, remains to be solved. In this work, The RD model is obtained following the assumptions in Turing's original paper and spatially discretized into square grids. The nodes in the outermost layer are considered as candidates for control. Controllability of the RD system with all such nodes as control is first shown. Then controllability of the RD system with minimal number of control nodes is studied. Our results show that nearly 87.5% control nodes can be saved while the system is still controllable. Numerical simulations are provided to demonstrate the effects of controlling the reaction and diffusion of the morphogens.
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| 10. |
- Deng, Juan, et al.
(författare)
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Pose Synchronization of Multiple Rigid Bodies Under Average Dwell Time Condition
- 2018
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Ingår i: Journal of Systems Science and Complexity. - : Springer-Verlag New York. - 1009-6124 .- 1559-7067. ; 31:1, s. 215-233
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Tidskriftsartikel (refereegranskat)abstract
- This paper considers the pose synchronization problem of a group of moving rigid bodies under switching topologies where the dwell time of each topology may has no nonzero lower bound. The authors introduce an average dwell time condition to characterize the length of time intervals in which the graphs are connected. By designing distributed control laws of angular velocity and linear velocity, the closed-loop dynamics of multiple rigid bodies with switching topologies can be converted into a hybrid dynamical system. The authors employ the Lyapunov stability theorem, and show that the pose synchronization can be reached under the average dwell time condition. Moreover, the authors investigate the pose synchronization problem of the leader-following model under a similar average dwell time condition. Simulation examples are given to illustrate the results.
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