10,739 research outputs found
Trajectory Tracking Using Adaptive Fractional PID Control of Biped Robots with Time-Delay Feedback
This paper presents the application of fractional order time-delay adaptive neural networks to the trajectory tracking for chaos synchronization between Fractional Order delayed plant, reference and fractional order time-delay adaptive neural networks. For this purpose, we obtained two control laws and laws of adaptive weights online, obtained using the fractional order Lyapunov-Krasovskii stability analysis methodology. The main methodologies, on which the approach is based, are fractional order PID the fractional order Lyapunov-Krasovskii functions methodology, although the results we obtain are applied to a wide class of non-linear systems, we will apply it in this chapter to a bipedal robot. The structure of the biped robot is designed with two degrees of freedom per leg, corresponding to the knee and hip joints. Since torso and ankle are not considered, it is obtained a 4-DOF system, and each leg, we try to force this biped robot to track a reference signal given by undamped Duffing equation. To verify the analytical results, an example of dynamical network is simulated, and two theorems are proposed to ensure the tracking of the nonlinear system. The tracking error is globally asymptotically stabilized by two control laws derived based on a Lyapunov-Krasovskii functional
A novel delay-dependent asymptotic stability conditions for differential and Riemann-Liouville fractional differential neutral systems with constant delays and nonlinear perturbation
The novel delay-dependent asymptotic stability of a differential and Riemann-Liouville fractional differential neutral system with constant delays and nonlinear perturbation is studied. We describe the new asymptotic stability criterion in the form of linear matrix inequalities (LMIs), using the application of zero equations, model transformation and other inequalities. Then we show the new delay-dependent asymptotic stability criterion of a differential and Riemann-Liouville fractional differential neutral system with constant delays. Furthermore, we not only present the improved delay-dependent asymptotic stability criterion of a differential and Riemann-Liouville fractional differential neutral system with single constant delay but also the new delay-dependent
asymptotic stability criterion of a differential and Riemann-Liouville fractional differential neutral equation with constant delays. Numerical examples are exploited to represent the improvement and capability of results over another research as compared with the least upper bounds of delay and nonlinear perturbation.This work is supported by Science Achievement Scholarship of Thailand (SAST), Research and
Academic Affairs Promotion Fund, Faculty of Science, Khon Kaen University, Fiscal year 2020 and National
Research Council of Thailand and Khon Kaen University, Thailand (6200069)
A novel delay-dependent asymptotic stability conditions for differential and Riemann-Liouville fractional differential neutral systems with constant delays and nonlinear perturbation
The novel delay-dependent asymptotic stability of a differential and Riemann-Liouville fractional differential neutral system with constant delays and nonlinear perturbation is studied. We describe the new asymptotic stability criterion in the form of linear matrix inequalities (LMIs), using the application of zero equations, model transformation and other inequalities. Then we show the new delay-dependent asymptotic stability criterion of a differential and Riemann-Liouville fractional differential neutral system with constant delays. Furthermore, we not only present the improved delay-dependent asymptotic stability criterion of a differential and Riemann-Liouville fractional differential neutral system with single constant delay but also the new delay-dependent
asymptotic stability criterion of a differential and Riemann-Liouville fractional differential neutral equation with constant delays. Numerical examples are exploited to represent the improvement and capability of results over another research as compared with the least upper bounds of delay and nonlinear perturbation.This work is supported by Science Achievement Scholarship of Thailand (SAST), Research and
Academic Affairs Promotion Fund, Faculty of Science, Khon Kaen University, Fiscal year 2020 and National
Research Council of Thailand and Khon Kaen University, Thailand (6200069)
On the validity of memristor modeling in the neural network literature
An analysis of the literature shows that there are two types of
non-memristive models that have been widely used in the modeling of so-called
"memristive" neural networks. Here, we demonstrate that such models have
nothing in common with the concept of memristive elements: they describe either
non-linear resistors or certain bi-state systems, which all are devices without
memory. Therefore, the results presented in a significant number of
publications are at least questionable, if not completely irrelevant to the
actual field of memristive neural networks
Fundamentals of Recurrent Neural Network (RNN) and Long Short-Term Memory (LSTM) Network
Because of their effectiveness in broad practical applications, LSTM networks
have received a wealth of coverage in scientific journals, technical blogs, and
implementation guides. However, in most articles, the inference formulas for
the LSTM network and its parent, RNN, are stated axiomatically, while the
training formulas are omitted altogether. In addition, the technique of
"unrolling" an RNN is routinely presented without justification throughout the
literature. The goal of this paper is to explain the essential RNN and LSTM
fundamentals in a single document. Drawing from concepts in signal processing,
we formally derive the canonical RNN formulation from differential equations.
We then propose and prove a precise statement, which yields the RNN unrolling
technique. We also review the difficulties with training the standard RNN and
address them by transforming the RNN into the "Vanilla LSTM" network through a
series of logical arguments. We provide all equations pertaining to the LSTM
system together with detailed descriptions of its constituent entities. Albeit
unconventional, our choice of notation and the method for presenting the LSTM
system emphasizes ease of understanding. As part of the analysis, we identify
new opportunities to enrich the LSTM system and incorporate these extensions
into the Vanilla LSTM network, producing the most general LSTM variant to date.
The target reader has already been exposed to RNNs and LSTM networks through
numerous available resources and is open to an alternative pedagogical
approach. A Machine Learning practitioner seeking guidance for implementing our
new augmented LSTM model in software for experimentation and research will find
the insights and derivations in this tutorial valuable as well.Comment: 43 pages, 10 figures, 78 reference
Stability analysis of a hypothalamic-pituitary-adrenal axis model with inclusion of glucocorticoid receptor and memory
This paper analyzes a four-dimensional model of the
hypothalamic-pituitary-adrenal (HPA) axis that includes the influence of the
glucocorticoid receptor in the pituitary. Due to the spatial separation between
the hypothalamus, pituitary and adrenal glands, distributed time delays are
introduced in the mathematical model. The existence of the positive equilibrium
point is proved and a local stability and bifurcation analysis is provided,
considering several types of delay kernels. The fractional-order model with
discrete time delays is also taken into account. Numerical simulations are
provided to illustrate the effectiveness of the theoretical findings.Comment: 9 page
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