This paper addresses the control problem of adaptive backstepping control for a class of nonlinear active suspension systems considering the model uncertainties and actuator input delays and presents a novel adaptive backstepping‐based controller design method. Based on the established nonlinear active suspension model, a projector operator–based adaptive control law is first developed to estimate the uncertain sprung‐mass online, and then the desirable controller design and stability analysis are conducted by combining backstepping technique and Lyapunov stability theory, which can not only deal with the actuator input delay but also achieve better dynamics performances and safety constraints requirements of the closed‐loop control system. Furthermore, the relationship between the input delay and the state variables of this vehicle suspension system is derived to present a simple and effective method of calculating the critical input delay. Finally, a numerical simulation investigation is provided to illustrate the effectiveness of the proposed controller. 相似文献
Accurate segmentation of lungs in pathological thoracic computed tomography (CT) scans plays an important role in pulmonary disease diagnosis. However, it is still a challenging task due to the variability of pathological lung appearances and shapes. In this paper, we proposed a novel segmentation algorithm based on random forest (RF), deep convolutional network, and multi-scale superpixels for segmenting pathological lungs from thoracic CT images accurately. A pathological thoracic CT image is first segmented based on multi-scale superpixels, and deep features, texture, and intensity features extracted from superpixels are taken as inputs of a group of RF classifiers. With the fusion of classification results of RFs by a fractional-order gray correlation approach, we capture an initial segmentation of pathological lungs. We finally utilize a divide-and-conquer strategy to deal with segmentation refinement combining contour correction of left lungs and region repairing of right lungs. Our algorithm is tested on a group of thoracic CT images affected with interstitial lung diseases. Experiments show that our algorithm can achieve a high segmentation accuracy with an average DSC of 96.45% and PPV of 95.07%. Compared with several existing lung segmentation methods, our algorithm exhibits a robust performance on pathological lung segmentation. Our algorithm can be employed reliably for lung field segmentation of pathologic thoracic CT images with a high accuracy, which is helpful to assist radiologists to detect the presence of pulmonary diseases and quantify its shape and size in regular clinical practices.
