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Distributed adaptive sliding mode control for nonlinear heterogeneous multi-agent systems with unknown disturbances 36

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Distributed adaptive sliding mode control for nonlinear hete...

第36届中国控制会议

作者： ZHANG Xiang WANG Jinhuan WANG Jie yang dedong School of Sciences Hebei province key laboratory of big data calculationHebei University of Technology School of Control Science and Engineering Hebei University of Technology

ISBN: (纸本)9781538629185

In this paper,the consensus for a class of nonlinear heterogeneous multi-agent systems（MAS） subject to unknown external disturbances is ***,the neighbor-based distributed finite-time observers are proposed for the followers to estimate the position and velocity of the ***,a novel distributed adaptive control laws is designed by means of linear sliding mode（LSM）.One can prove that the tracking consensus can be realized asymptotically under LSM in spite of uncertainties and ***,a numerical example demonstrates the performance and feasibility of the given protocols.

关键词： multi-agent systems tracking consensus distributed adaptive control sliding mode

Finite-Time H∞ Fuzzy Control for Continuous-Time and Discrete-Time Nonlinear Systems

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Finite-Time H∞ Fuzzy Control for Continuous-Time and Discre...

第26届中国控制与决策会议

作者： dedong yang School of Control Science and Engineering Hebei University of Technology

In this paper, the problem of finite-time H∞ fuzzy control for both continuous-time and discrete-time nonlinear systems is considered. The definitions and explanations about finite-time H∞ fuzzy control for both continuous-time and discrete-time nonlinear systems are offered. Some theorems are obtained to guarantee the provided performance requirements. The optimization algorithms are also designed to minimize the provided performance level. Simulation examples are provided to verify the effectiveness of the schemes.

关键词： Finite Time H∞ Control Fuzzy Control

Stabilization for Impulsive Switched Positive Systems under Asynchronous Switching

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Stabilization for Impulsive Switched Positive Systems under ...

第30届中国控制与决策会议

作者： Jiao Liu Yake yang dedong yang Hongchao Li School of Control Science and Engineering Hebei University of Technology

In this paper,the stabilization problem for a family of impulsive switched positive systems under asynchronous switching is *** using multiple linear copositive Lyapunov functions approach and dual system theory,the state feedback controller is designed to guarantee the positivity and exponential stability for the closed-loop *** total running interval ratio between matched period and mismatched period is restricted to be more than a known constant and the switching frequency satisfies an average dwell *** addition,the impulse-free case is also *** obtained results are all formulated in terms of linear programming problem,which is numerical ***,a numerical example is presented to demonstrate the validity of our results.

关键词： Impulsive switched positive systems Asynchronous switching Stabilization Dual system theory

Exponential Stabilization for Networked Switched Positive Systems with Mixed Time-Varying Delays via an Event-Triggered Scheme

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Exponential Stabilization for Networked Switched Positive Sy...

第32届中国控制与决策会议

作者： Yake yang dedong yang Jiao Liu Hongchao Li School of Artificial Intelligence Hebei University of Technology

This paper deals with exponential stabilization issue for a family of discrete-time networked switched positive systems with mixed time-varying *** mixed time-varying delays lie in not only state but the switching information,which increases the difficulty of designing *** event-triggered mechanism is adopted in the paper,which can reduce communication resources and save the *** from the triggering conditions expressed as quadratic forms in previous results,a mode-dependent linear form triggering condition is given,which is more efficient to resolve the positive stabilization *** the aid of a copositive type Lyapunov-Krasovskii functional and the average dwell time approach,a desired delay controller by means of a linear programming method is designed to guarantee the positivity and exponential stability of the event-triggered control closed loop ***,the validity of our main results is demonstrated by a simulation example.

关键词： Switched Positive Systems Event-Triggered Scheme Mixed Time-Varying Delays Stabilization

Improved Event-Triggered Stabilization for Discrete-Time Systems with Unsymmetrical Saturated Control

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Improved Event-Triggered Stabilization for Discrete-Time Sys...

第32届中国控制与决策会议

作者： Yuan Zhou dedong yang Hongchao Li Jiao Liu School of Artificial Intelligence Hebei University of Technology Control Engineering Technology Research Center of Hebei Province

In this paper,a controller design for discrete-time systems with unsymmetrical actuator saturation is presented with the utilizing of an improved event-triggered *** a complex nonlinearity,unsymmetrical actuator saturation exists in a large amount of systems,which is more general in *** stability of the closed-loop system may be destroyed by the constraint of ***-triggered control has been proposed to reduce the communication *** event-triggered condition is designed by the involvement of the positive and negative saturation levels,which has higher degrees of freedom than general relative triggering *** contractive invariant set for the underlying system is estimated as the stable region,which is determined by solving an optimization *** the final section of the paper,a simulation example is given to illustrate the results.

关键词： Event-triggered control Unsymmetrical actuator saturation Stable region Optimization problem

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基于全局感知孪生网络的红外目标跟踪

光学学报 2021年第6期41卷 166-176页

作者：李畅杨德东宋鹏郭畅河北工业大学人工智能与数据科学学院天津300130

目前大多数热红外(TIR)目标跟踪算法都是基于相关滤波或者使用彩色跟踪器的模型进行特征提取。然而,两者都存在适用于彩色目标跟踪却对红外目标特征不敏感的缺陷,导致无法良好地应用到红外目标跟踪。为此,提出一种基于全局感知的孪生神... 详细信息

目前大多数热红外(TIR)目标跟踪算法都是基于相关滤波或者使用彩色跟踪器的模型进行特征提取。然而,两者都存在适用于彩色目标跟踪却对红外目标特征不敏感的缺陷,导致无法良好地应用到红外目标跟踪。为此,提出一种基于全局感知的孪生神经网络的红外目标跟踪器。将孪生神经网络的后三层特征进行融合优化,得到新的特征,同时加入了由空间转换网络和通道注意力组成的空间感知模块,以得到全局范围内的有效信息,通过引入自注意力机制,使算法更加专注于提取目标的判别信息,最后对结果进行响应融合得到最终的响应图。在PTB-TIR红外目标跟踪评估基准上的实验结果表明,本文算法能够适应多样的红外环境,同时能够保持良好的跟踪速度(20.2 frame/s),实现对红外目标有效且稳定的实时跟踪。

关键词：机器视觉红外图像目标跟踪孪生神经网络注意力机制

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基于自适应卷积特征的目标跟踪算法

光学学报 2017年第3期37卷 262-273页

作者：蔡玉柱杨德东毛宁杨福才河北工业大学控制科学与工程学院天津300130

针对空间正则化相关滤波(SRDCF)跟踪算法在目标跟踪中旋转变化、超出视野和严重遮挡情况下存在跟踪失败的问题,提出了一种基于自适应卷积特征的目标跟踪算法。对VGG-Net模型中conv3-4层卷积特征进行主成分分析,利用自适应降维技术将conv... 详细信息

针对空间正则化相关滤波(SRDCF)跟踪算法在目标跟踪中旋转变化、超出视野和严重遮挡情况下存在跟踪失败的问题,提出了一种基于自适应卷积特征的目标跟踪算法。对VGG-Net模型中conv3-4层卷积特征进行主成分分析,利用自适应降维技术将conv3-4层特征维数由256维降至130维。在检测区域求取分类器最大响应位置及其目标尺度信息,并对最大响应位置的目标进行置信度比较,训练在线支持向量机(SVM)分类器,以便在跟踪失败的情况下,重新检测到目标而实现长期跟踪。计算跟踪位置的峰旁比,选取可靠跟踪结果,更新模型。采用OTB-2015评估基准的100组视频序列进行测试,并与38种跟踪方法进行对比,验证了本文算法的有效性。实验结果表明:本文算法跟踪精度为0.804,成功率为0.607,排名第一,与SRDCF算法相比,两者分别提高了1.9%和1.5%。针对目标发生旋转变化、超出视野和严重遮挡等复杂情况,本文算法均具有较强的稳健性。

关键词：机器视觉卷积特征自适应降维在线支持向量机分类器峰旁比

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基于稀疏编码直方图的稳健红外目标跟踪

光学学报 2017年第11期37卷 196-206页

作者：杨福才杨德东毛宁李雪晴河北工业大学控制科学与工程学院天津300130

充分利用红外图像信息建立有效的观测模型是实现稳健红外目标跟踪的基础。影响红外目标跟踪结果的因素除可见光目标跟踪也会面临的干扰因素之外,还有诸如边缘和纹理信息缺失、信噪比低和背景噪声影响等特有因素。提出基于稀疏编码直方图... 详细信息

充分利用红外图像信息建立有效的观测模型是实现稳健红外目标跟踪的基础。影响红外目标跟踪结果的因素除可见光目标跟踪也会面临的干扰因素之外,还有诸如边缘和纹理信息缺失、信噪比低和背景噪声影响等特有因素。提出基于稀疏编码直方图(HSC)特征和扰动感知模型(DAM)的红外目标跟踪方法,使用K-奇异值分解算法得到过完备字典,利用该字典计算得到每个像素点的稀疏编码,并组成HSC对目标进行表达,同时通过引入DAM增强算法抗背景干扰能力。该方法充分利用了红外图像中运动目标的结构特性,能够有效去除背景干扰。与其他跟踪器相比,在VOT-TIR2015数据集上,该方法的精确度和成功率指标分别获得3.8%和4.4%的提升,具有较高的研究价值和实用价值。

关键词：机器视觉红外图像目标跟踪稀疏编码直方图扰动感知模型

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融合扰动感知模型的孪生神经网络目标跟踪

光学学报 2020年第4期40卷 114-125页

作者：李勇杨德东韩亚君宋鹏河北工业大学人工智能与数据科学学院天津300130

针对全卷积孪生网络目标跟踪算法(Siamfc)在严重遮挡、旋转、光照变化、尺度变化等情况下容易出现跟踪失败的问题,提出了一种融合扰动感知模型的孪生神经网络目标跟踪算法。将孪生神经网络提取到的低层结构特征与高层语义特征进行有效融... 详细信息

针对全卷积孪生网络目标跟踪算法(Siamfc)在严重遮挡、旋转、光照变化、尺度变化等情况下容易出现跟踪失败的问题,提出了一种融合扰动感知模型的孪生神经网络目标跟踪算法。将孪生神经网络提取到的低层结构特征与高层语义特征进行有效融合,以提高特征的表征能力;利用模板自适应策略在线更新模板,以提高算法在遮挡和旋转等情况下跟踪的精确度。与此同时,将基于颜色直方图特征的扰动感知模型引入到算法中,通过加权融合的方式获得目标响应得分图,以此估计出目标的位置,并利用相邻帧尺度自适应策略估计出目标最佳尺度。为验证本文算法的效果,利用公开数据集测试所提算法性能,并与多种跟踪方法进行对比。实验结果表明:在2015目标跟踪标准测试数据集下本文所提算法总体跟踪精确度为0.945,总体成功率为0.929,相比Siamfc算法分别提高了2.9%和2.8%,在无人机航拍测试数据集中本文所提算法也具备较高的精确度与成功率,获得的跟踪效果良好。

关键词：机器视觉孪生神经网络扰动感知模型自适应模板特征融合