50 research outputs found
Improved results on an extended dissipative analysis of neural networks with additive time-varying delays using auxiliary function-based integral inequalities
The issue of extended dissipative analysis for neural networks (NNs) with additive time-varying delays (ATVDs) is examined in this research. Some less conservative sufficient conditions are obtained to ensure the NNs are asymptotically stable and extended dissipative by building the agumented Lyapunov-Krasovskii functional, which is achieved by utilizing some mathematical techniques with improved integral inequalities like auxiliary function-based integral inequalities (gives a tighter upper bound). The present study aims to solve the , passivity and --dissipativity performance in a unified framework based on the extended dissipativity concept. Following this, the condition for the solvability of the designed NNs with ATVDs is presented in the form of linear matrix inequalities. Finally, the practicality and effectiveness of this approach were demonstrated through four numerical examples
Multi-label image classification by feature attention network
Learning the correlation among labels is a standing-problem in the multi-label image recognition task. The label correlation is the key to solve the multi-label classification but it is too abstract to model. Most solutions try to learn image label dependencies to improve multi-label classification performance. However, they have ignored two more realistic problems: object scale inconsistent and label tail (category imbalance). These two problems will impact the bad influence on the classification model. To tackle these two problems and learn the label correlations, we propose feature attention network (FAN) which contains feature refinement network and correlation learning network. FAN builds top-down feature fusion mechanism to refine more important features and learn the correlations among convolutional features from FAN to indirect learn the label dependencies. Following our proposed solution, we achieve performed classification accuracy on MSCOCO 2014 and VOC 2007 dataset
Finite-time extended state observer and fractional-order sliding mode controller for impulsive hybrid port-Hamiltonian systems with input delay and actuators saturation: Application to ball-juggler robots
This paper addresses the robust control problem of mechanical systems with hybrid dynamics in port-Hamiltonian form. It is assumed that only the position states are measurable, and time-delay and saturation constraint affect the control signal. An extended state observer is designed after a coordinate transformation. The effect of the time delay in the control signal is neutralized by applying Pade ́ approximant and augmenting the system states. An assistant system with faster convergence is developed to handle actuators saturation. Fractional-order sliding mode controller acts as a centralized controller and compensates for the undesired effects of unknown external disturbance and parameter uncertainties using the observer estimation results. Stability analysis shows that the closed-loop system states, such as the observer tracking error, and the position/velocity tracking errors, are finite-time stable. Simulation studies on a two ball-playing juggler robot with three degrees of freedom validate the theoretical results’ effectiveness
A Framework for Stable Robot-Environment Interaction Based on the Generalized Scattering Transformation
This thesis deals with development and experimental evaluation of control algorithms for stabilization of robot-environment interaction based on the conic systems formalism and scattering transformation techniques. A framework for stable robot-environment interaction is presented and evaluated on a real physical system. The proposed algorithm fundamentally generalizes the conventional passivity-based approaches to the coupled stability problem. In particular, it allows for stabilization of not necessarily passive robot-environment interaction. The framework is based on the recently developed non-planar conic systems formalism and generalized scattering-based stabilization methods. A comprehensive theoretical background on the scattering transformation techniques, planar and non-planar conic systems is presented. The dynamics of the robot are estimated using data-driven techniques, which allows the equations for the dynamics of a robot to be obtained in an explicit form. The generalized scattering transformation is used in combination with the Lyapunov-based adaptive trajectory tracking control. It is shown that the original interconnected system is not stable due to its non-passive nature; however, the application of the proposed stabilization algorithm allows stability to be achieved, without affecting the robot’s trajectory tracking performance in free space
STABILITY, FINITE-TIME STABILITY AND PASSIVITY CRITERIA FOR DISCRETE-TIME DELAYED NEURAL NETWORKS
In this paper, we present the problem of stability, finite-time stability and passivity for discrete-time neural networks (DNNs) with variable delays. For the purposes of stability analysis, an augmented Lyapunov-Krasovskii functional (LKF) with single and double summation terms and several augmented vectors is proposed by decomposing the time-delay interval into two non-equidistant subintervals. Then, by using the Wirtinger-based inequality, reciprocally and extended reciprocally convex combination lemmas, tight estimations for sum terms in the forward difference of LKF are given. In order to relax the existing results, several zero equalities are introduced and stability criteria are proposed in terms of linear matrix inequalities (LMIs). The main objective for the finite-time stability and passivity analysis is how to effectively evaluate the finite-time passivity conditions for DNNs. To achieve this, some weighted summation inequalities are proposed for application to a finite-sum term appearing in the forward difference of LKF, which helps to ensure that the considered delayed DNN is passive. The derived passivity criteria are presented in terms of linear matrix inequalities. Some numerical examples are presented to illustrate the proposed methodology
Finite-time stabilization of discontinuous fuzzy inertial Cohen–Grossberg neural networks with mixed time-varying delays
This article aims to study a class of discontinuous fuzzy inertial Cohen–Grossberg neural networks (DFICGNNs) with discrete and distributed time-delays. First of all, in order to deal with the discontinuities by the differential inclusion theory, based on a generalized variable transformation including two tunable variables, the mixed time-varying delayed DFICGNN is transformed into a first-order differential system. Then, by constructing a modified Lyapunov–Krasovskii functional concerning with the mixed time-varying delays and designing a delayed feedback control law, delay-dependent criteria formulated by algebraic inequalities are derived for guaranteeing the finite-time stabilization (FTS) for the addressed system. Moreover, the settling time is estimated. Some related stability results on inertial neural networks is extended. Finally, two numerical examples are carried out to verify the effectiveness of the established results
Synchronization of Complex-Valued Dynamical Networks
Dynamical networks (DNs) have been broadly applied to describe natural and human systems consisting of a large number of interactive individuals. Common examples include Internet, food webs, social networks, neural networks, etc. One of the crucial and significant collective behaviors of DNs is known as synchronization. In reality, synchronization phenomena may occur either inside a network or between two or more networks, which are called “inner synchronization” and “outer synchronization”, respectively. On the other hand, many real systems are more suitably characterized by complex-valued dynamical systems, such as quantum systems, complex Lorenz system, and complex-valued neural networks. The main focus of this thesis is on synchronization of complex-valued dynamical networks (CVDNs).
In this thesis, we firstly design a delay-dependent pinning impulsive controller to study synchronization of time-delay CVDNs. By taking advantage of the Lyapunov function in the complex field, some delay-independent synchronization criteria of CVDNs are established, which generalizes some existing synchronization results. Then, by employing the Lyapunov functional in the complex field, several delay-dependent sufficient conditions on synchronization of CVDNs with various sizes of delays are constructed. Moreover, we study synchronization of CVDNs with time-varying delays under distributed impulsive controllers. By taking advantage of time-varying Lyapunov function/ functional in the complex domain, several synchronization criteria for CVDNs with time-varying delays are derived in terms of complex-valued linear matrix inequalities (LMIs). Then, we propose a memory-based event-triggered impulsive control (ETIC) scheme with three levels of events in the complex field to investigate the synchronization problem of CVDNs with both discrete and distributed time delays, and we further consider an event-triggered pinning impulsive control (ETPIC) scheme combining the proposed ETIC and a pinning algorithm to study synchronization of time-delay CVDNs. Results show that the proposed ETIC scheme and ETPIC scheme can effectively synchronize CVDNs with the desired trajectory. Secondly, we study generalized outer synchronization of drive-response time-delayed CVDNs via hybrid control. A hybrid controller is proposed in the complex domain to construct response complex-valued networks. Some generalized outer synchronization criteria for drive-response CVDNs are established, which extend the existing generalized outer synchronization results to the complex field. Thirdly, we study the average-consensus problem of potential complex-valued multi-agent systems. A complex-variable hybrid consensus protocol is proposed, and time delays are taken into account in both the continuous-time protocol and the discrete-time protocol. Delay-dependent sufficient conditions are established to guarantee the proposed complex-variable hybrid consensus protocol can solve the average-consensus problem. Lastly, as a practical application for complex-valued networked systems, the synchronization problem of master-slave complex-valued neural networks (CVNNs) is studied via hybrid control and delayed ETPIC, respectively. We also investigate the state estimation problem of CVNNs by designing the adaptive impulsive observer in the complex field
Adaptive Control
Adaptive control has been a remarkable field for industrial and academic research since 1950s. Since more and more adaptive algorithms are applied in various control applications, it is becoming very important for practical implementation. As it can be confirmed from the increasing number of conferences and journals on adaptive control topics, it is certain that the adaptive control is a significant guidance for technology development.The authors the chapters in this book are professionals in their areas and their recent research results are presented in this book which will also provide new ideas for improved performance of various control application problems
Passivity and synchronization of coupled reaction-diffusion complex-valued memristive neural networks
This paper considers two types of coupled reaction-diffusion complex-valued memristive neural networks (CRDCVMNNs). The nodes of the first type CRDCVMNN are coupled through their state and the second one is coupled by spatial diffusion coupling term. For the former, some novel criteria for the passivity and synchronization are derived by constructing an appropriate controller and utilizing some inequality techniques as well as Lyapunov functional method. For the latter, we establish some sufficient conditions which guarantee that this type of CRDCVMNNs can realize passivity and synchronization. Finally, the effectiveness and correctness of the acquired theoretical results are verified by two numerical examples