Adaptive Fuzzy Finite-Time Singular Perturbation Control for Flexible Joint Manipulators With State Constraints

An adaptive fuzzy finite-time singular perturbation control is proposed for flexible joint manipulators with state constraints. First, the flexible joint manipulator system is decoupled into a rigid subsystem and a fast subsystem through singular perturbation technique. Second, a finite-time controller is introduced to improve the response speed of the rigid subsystem so that it can converge within a finite time. And then, all the rigid subsystem states are confined within the scope of the constraint by the barrier Lyapunov function. Third, the model’s uncertainties and unknown external disturbances are handled by adaptive fuzzy technique. Finally, the effectiveness of the new control scheme is illustrated by the simulation

Cross-lingual Alzheimer's Disease detection based on paralinguistic and pre-trained features

We present our submission to the ICASSP-SPGC-2023 ADReSS-M Challenge Task, which aims to investigate which acoustic features can be generalized and transferred across languages for Alzheimer's Disease (AD) prediction. The challenge consists of two tasks: one is to classify the speech of AD patients and healthy individuals, and the other is to infer Mini Mental State Examination (MMSE) score based on speech only. The difficulty is mainly embodied in the mismatch of the dataset, in which the training set is in English while the test set is in Greek. We extract paralinguistic features using openSmile toolkit and acoustic features using XLSR-53. In addition, we extract linguistic features after transcribing the speech into text. These features are used as indicators for AD detection in our method. Our method achieves an accuracy of 69.6% on the classification task and a root mean squared error (RMSE) of 4.788 on the regression task. The results show that our proposed method is expected to achieve automatic multilingual Alzheimer's Disease detection through spontaneous speech.Comment: accepted by ICASSP 202

A new result on observer-based sliding mode control design for a class of uncertain Ito^ stochastic delay systems

© 2017 The Franklin Institute This paper develops a new observer-based sliding mode control (SMC) scheme for a general class of Ito^ stochastic delay systems (SDS). The key merit of the presented scheme lies in its simplicity and integrity in design process of the traditional sliding mode observer (SMO) strategy, i.e., the state observer and sliding surface design as well as the associated sliding mode controller synthesis. For guaranteeing to use the scheme, a new LMIs-based criterion is established to ensure the exponential stability of the underlying sliding mode dynamics (SMDs) in mean-square sense with H∞ performance. A bench test example is provided to numerically demonstrate the efficacy of the scheme and illustrate the application procedure for potential readers/users with interest in their ad hoc applications and methodology expansion