Stable indirect adaptive interval type-2 fuzzy sliding-based control and synchronization of two different chaotic systems

An indirect approach to adaptive interval type-2 fuzzy sliding mode control is proposed for the stable synchronization of two different chaotic nonlinear systems with different initial conditions under the presence of uncertainties involving process noises and external disturbances. The indirect model-based approach to adaptation is promoted here as a more suitable strategy for the fast changes that occurs in chaotic systems. In other words, the usual direct adaptive strategies may be too slow to respond to the inherently fast changing dynamics of chaotic systems. Using Lyapunov analysis, the sliding mode approach illustrates the asymptotic convergence of synchronization error to zero as well as good robustness against external disturbances. The interval type-2 structure aims to remedy the undesirable chattering phenomenon that is common in most conventional sliding mode control applications. It also provides a more effective equivalent model in the indirect approach, which leads to improved handling of the chaotic variations and uncertainties. Two numerical pairs of chaotic systems, i.e. the Lorenz and Chen’s systems and the Rössler system and modified Chua’s circuit are considered. In particular, in comparison with its type-1 fuzzy counterpart, the control effort is reduced by an average of 26.25% and 17.4% for the synchronization of the two corresponding systems, respectively. Furthermore, the integral of squared error is also improved by an average of 27.2% and 25.33%. This is while convergence time is reduced to less than 0.5 s and 1.5 s.     

基于行人运动模态辨识的室内外无缝导航航向算法研究

目前行人导航航向解算算法均基于导航传感器在行人身体上的固定安装模式,或者依赖其他射频信息辅助修正陀螺航向,这极大约束了导航传感器的适用条件.为此,利用陀螺对低频噪声的敏感性及加速度计低频的稳定性,提出了解决行人手持手机稳态查看与非稳态摇摆的运动模态辨识算法和基于时域互补滤波器实现姿态的最优融合方法;研究了改进型互补滤波以消除行人的运动加速度对姿态解算的干扰误差,提高了载体姿态的测量精度;此外,利用磁传感器标定后的数据设计了自适应卡尔曼滤波算法,抑制了航向角的误差发散.经实际数据测试验证,室内外行人手持稳态与非稳态下的航向角测量精度提高了80%,同时大大提高了导航传感器的适用性与便携性,满足实际工程的使用需求.     

基于无线传感器网络的坡面异常信号检测方法研究

提出了一种适用于硬件资源受限的传感器节点的坡面异常信号检测方法,数据的采集和异常检测在节点前端完成,能提高监测实时性,降低数据传输的通信能耗.传感器节点采集坡面加速度数据,通过对训练数据进行经验模态分解得到本征模函数的上包络,并对该包络数据进行高斯建模自适应学习确定检测阈值.对监测数据经验模态分解得到上包络数据,运用3α原则与检测阈值进行比较实现异常信号判别.通过算法仿真和实际部署测试得到该方法检测精度为98%,具有一定的实用价值.     

基于表面深度值均方差的航空行李分类研究

以航空旅客行李托运方式的国际标准为出发点,研究了基于行李表面深度值均方差的分类方法,为采取何种方式托运提供依据。采用Kinect传感器在行李输送带上方采集深度图像,提取行李区域的像素值并计算其均方差进行粗分类;结合行李三维形态的先验知识,根据网格之间的距离以及深度值均方差的差异,设计了基于网格相似度的自适应聚类算法,拟合聚类结果中高层单元的面积和数量,分析行李三维形态特征,确定其类别。实验结果表明,所提算法复杂度低,能快速准确地识别行李类别。     

A robust adaptive control method for Wiener nonlinear systems

This paper proposes a new robust adaptive control method for Wiener nonlinear systems with uncertain parameters. The considered Wiener systems are different from the previous ones in the sense that we consider nonlinear block approximation error, process noise, and measurement noise. The parameterization model is obtained based on the inverse of the nonlinear function block. The adaptive control method is derived from a modified criterion function that can overcome non‐minimum phase property of the linear subsystem. The parameter adaptation is performed by using a robust recursive least squares algorithm with a deadzone weighted factor. The control law compensates the model error by incorporating the unmodeled dynamics estimation. Theoretical analysis indicates that the closed‐loop system stability can be guaranteed under mild conditions. Numerical examples including an industrial problem are studied to validate the results. Copyright © 2016 John Wiley & Sons, Ltd.     

Global adaptive stabilization for high‐order uncertain time‐varying nonlinear systems with time‐delays

This paper focuses on the adaptive stabilization problem for a class of high‐order nonlinear systems with time‐varying uncertainties and unknown time‐delays. Time‐varying uncertain parameters are compensated by combining a function gain with traditional adaptive technique, and unknown multiple time‐delays are manipulated by the delicate choice of an appropriate Lyapunov function. With the help of homogeneous domination idea and recursive design, a continuous adaptive state‐feedback controller is designed to guarantee that resulting closed‐loop systems are globally uniformly stable and original system states converge to zero. The effectiveness of the proposed control scheme is illustrated by the stabilization of delayed neural network systems. Copyright © 2016 John Wiley & Sons, Ltd.     

Coordinated control with multiple dynamic leaders for uncertain Lagrangian systems via self‐tuning adaptive distributed observer

This paper studies coordinated control of multiple Lagrangian systems with parametric uncertainties subject to external disturbances by proposing a fully distributed continuous control law based on the improved self‐tuning adaptive observer inspired by non‐identifier‐based high‐gain adaptive control technique. Under this distributed continuous control law, a group of Lagrangian systems are driven to the convex hull spanned by multiple heterogenous dynamic leaders, which can be any combination of step signals of arbitrary unknown magnitudes, ramp signals of arbitrary unknown slopes, and sinusoidal signals of arbitrary unknown amplitudes, initial phases, and any unknown frequencies. It is also worth to mention that this control law we propose, depending neither on any information of leader systems for uninformed followers, nor on external disturbances, even independent of neighbors' velocity, can achieve asymptotic tracking of multiple leaders without any additional condition instead of ensuring the ultimate boundedness of the containment error as in the literature. Copyright © 2016 John Wiley & Sons, Ltd.     

基于提升小波和自适应多项式拟合的传感器网络多模数据压缩算法

为提高无线传感器网络的感知精度,提出了一种基于提升小波变换和自适应多项式拟合的多模数据压缩算法（adaptive multiple-modalities data compression algorithm based on lifting wavelet and adaptive polynomial fitting,简称AMLP）。在给定相关度阈值的前提下,AMLP算法先对数据进行灰色关联聚类,再对类中的相关数据进行自适应的多项式拟合,然后把未拟合的特征数据抽象成一个矩阵,利用提升小波变换去除数据的时间和空间相关性。最后,通过游程编码对数据作进一步压缩。仿真结果表明,AMLP算法能够有效去除不同数据间的冗余信息以及同种数据间的时间和空间冗余信息,提高压缩比,降低网络能耗。与基于小波的自适应多模数据压缩算法（adaptive multiple-modalities data compression algorithm based on wavelet,简称AMMC）相比,AMLP算法的数据恢复精度大大优于AMMC算法,压缩比和能耗相近。因此,AMLP算法更适用于要求高精度数据的传感器网络应用,如地质灾害监测、医疗和军事领域。     

并行燃烧数值模拟计算优化——面向自适应非结构网格的动态负载平衡方法

燃烧数值模拟计算通常采用非结构网格模拟计算区域。在非结构网格上进行并行模拟计算时,其自适应方式使得不同进程上的计算负载频繁变动,且差异巨大,导致并行计算效率低下。为了提高并行计算的效率,一个有效的方法是采用动态负载平衡技术。提出一种针对燃烧的化学反应状态的动态负载平衡方法,该方法采用不同策略对化学反应不同阶段各进程上的计算负载进行预测,根据预测结果平均进程间的计算任务,达到负载平衡。实验分析表明,该方法能有效地降低进程间的负载不平衡程度,使得模拟计算的总体运行时间降低了10％。     

基于RTP与模板卷积法的视频无线传输技术

速率控制和差错控制是视频传输系统重点研究内容,在RTP实时传输协议和MPEG-4码流分包的基础上,提出了采用一种新的基于RTCP反馈的自适应分包技术和基于模板卷积的计算运动矢量的方法.该技术能有效解决高分辨率、大数据量视频图像在无线视频传输中的丢包率难题.通过实验结果表明,该技术能保证无线视频实时传输质量.