共查询到20条相似文献,搜索用时 15 毫秒
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A robust neural tracking controller is designed based on the conic sector theory. An adaptive dead zone scheme is employed to enhance robustness of the system. The proposed algorithm does not require knowledge of either the upper bound of disturbance or the bound on the norm of the estimate parameter. A complete convergence proof is provided based on the sector theory to deal with the nonlinear system. Simulation results are presented to control a two-link direct drive robot and show the performance of the tracking controller. 相似文献
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针对一类具有不确定的互联大系统,研究了使受控系统鲁棒稳定和渐近跟踪参考输入的分散鲁棒跟踪控制器的设计问题,并对具有分散反馈控制器的闭环大系统,给出了其鲁棒稳定以及渐近跟踪的证明。 相似文献
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一种机器人轨迹的鲁棒跟踪控制 总被引:9,自引:0,他引:9
把基于拉格朗日方程的n关节机器人动力学模型,转化成了一线性状态方程.基于这种线性状态方程,利用李雅普诺夫函数方法分别针对机器人标称模型和有外界不确定性干扰时,设计前馈控制器和反馈控制器,使得机器人的实际运动轨迹在标称模型下,指数收敛于所给定的期望运动轨迹;在有外界不确定性干扰时,它与期望轨迹的误差是终值有界的.并且,针对后者所提出的控制律进行仿真.仿真结果表明,这种连续鲁棒控制律对于机器人系统存在外界不确定性干扰时是十分有效的. 相似文献
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Incremental Focus of Attention for Robust Vision-Based Tracking 总被引:3,自引:0,他引:3
We present the Incremental Focus of Attention (IFA) architecture for robust, adaptive, real-time motion tracking. IFA systems combine several visual search and vision-based tracking algorithms into a layered hierarchy. The architecture controls the transitions between layers and executes algorithms appropriate to the visual environment at hand: When conditions are good, tracking is accurate and precise; as conditions deteriorate, more robust, yet less accurate algorithms take over; when tracking is lost altogether, layers cooperate to perform a rapid search for the target and continue tracking.Implemented IFA systems are extremely robust to most common types of temporary visual disturbances. They resist minor visual perturbances and recover quickly after full occlusions, illumination changes, major distractions, and target disappearances. Analysis of the algorithm's recovery times are supported by simulation results and experiments on real data. In particular, examples show that recovery times after lost tracking depend primarily on the number of objects visually similar to the target in the field of view. 相似文献
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本文给出了保证自校正控制器鲁棒稳定的充分条件,所得结论用于对时变参数非最小相位系统的自校正控制,可使输出尽量快速地跟踪设定值。文中给出数字仿真示例。 相似文献
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In this paper, a new efficient learning procedure for training single hidden layer feedforward network is proposed. This procedure
trains the output layer and the hidden layer separately. A new optimization criterion for the hidden layer is proposed. Existing
methods to find fictitious teacher signal for the output of each hidden neuron, modified standard backpropagation algorithm
and the new optimization criterion are combined to train the feedforward neural networks. The effectiveness of the proposed
procedure is shown by the simulation results.
*The work of P. Thangavel is partially supported by UGC, Government of India sponsored project. 相似文献
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Igor Aizenberg Claudio Moraga 《Soft Computing - A Fusion of Foundations, Methodologies and Applications》2007,11(2):169-183
A multilayer neural network based on multi-valued neurons (MLMVN) is considered in the paper. A multi-valued neuron (MVN) is based on the principles of multiple-valued threshold logic over the field of the complex numbers. The most important properties of MVN are: the complex-valued weights, inputs and output coded by the kth roots of unity and the activation function, which maps the complex plane into the unit circle. MVN learning is reduced to the movement along the unit circle, it is based on a simple linear error correction rule and it does not require a derivative. It is shown that using a traditional architecture of multilayer feedforward neural network (MLF) and the high functionality of the MVN, it is possible to obtain a new powerful neural network. Its training does not require a derivative of the activation function and its functionality is higher than the functionality of MLF containing the same number of layers and neurons. These advantages of MLMVN are confirmed by testing using parity n, two spirals and “sonar” benchmarks and the Mackey–Glass time series prediction. 相似文献
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为了保证具有不确定非线性的PM同步伺服电机驱动系统的稳定性,确保闭环系统的输出准确跟踪期望输出并减少不确定项对该驱动系统的影响,利用Lyapunov稳定性理论,设计了一种基于反馈线性化的鲁棒跟踪控制器,并作了相应的仿真研究。仿真结果表明,该控制器不仅确保闭环系统的输出按指数规律跟踪期望输出,而且保证闭环系统状态的一致最终有界。该控制器设计简单,易于实现,具有很好的实用性。 相似文献
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深层卷积神经网络所需的计算量和存储空间严重制约了其在资源有限平台上的应用与部署。针对基于单一参数重要性评价或者特征重建的剪枝算法泛化能力较差的问题,提出基于敏感度的集成剪枝算法,利用BN层的缩放因子稀疏YOLO网络中卷积核个数较多的冗余层,结合3种参数重要性评价方法对卷积核做重要性排序,并根据敏感度确定每一层的剪枝比率。实验结果表明,该剪枝算法对于YOLOv3和YOLOv3-tiny网络分别缩减80.5%和92.6%的参数量,并且相比基于网络轻量化方法的剪枝算法提升了网络模型压缩后的检测精度和泛化能力。 相似文献
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BP网络中,隐层神经元的数目直接影响着整个网络的性能和效率,因而对BP网络的结构优化是一个非常重要的环节.本文对相关性剪枝算法进行了改进,采用减法聚类方法确定初始的网络结构,然后再用传统相关性剪枝算法重复优化网络.通过实验结果的分析,验证了改进的神经网络相关性剪枝算法对BP网络结构优化的有效性. 相似文献
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基于观测器的时滞系统鲁棒控制器的设计 总被引:1,自引:0,他引:1
研究了一类不确定时滞系统基于观测器的鲁棒镇定问题,系统的不确定性时变未知且范数有界,目的是设计状态观测器和线性无记忆观测状态反馈控制器,使其能够镇定一类状态和控制输入不确定性时滞系统。基于Lyapunov稳定性理论,采用线形矩阵不等式这一有效工具,给出了系统基于观测状态反馈鲁棒镇定的充分条件,并且利用线形矩阵不等式的解构造了使得系统鲁棒稳定的基于观测状态反馈控制器,所得结果与时滞相关,从而相对减弱了控制器设计的保守性。数值算例表明了所提出的设计方法的有效性。 相似文献