During bipedal walking,it is critical to detect and adjust the robot postures by feedback control to maintain its normal state amidst multi-source random disturbances arising from some unavoidable uncertain factors.Th...During bipedal walking,it is critical to detect and adjust the robot postures by feedback control to maintain its normal state amidst multi-source random disturbances arising from some unavoidable uncertain factors.The radical basis function（RBF）neural network model of a five-link biped robot is established,and two certain disturbances and a randomly uncertain disturbance are then mixed with the optimal torques in the network model to study the performance of the biped robot by several evaluation indices and a specific Poincar′e map.In contrast with the simulations,the response varies as desired under optimal inputting while the output is fluctuating in the situation of disturbance driving.Simulation results from noise inputting also show that the dynamics of the robot is less sensitive to the disturbance of knee joint input of the swing leg than those of the other three joints,the response errors of the biped will be increasing with higher disturbance levels,and especially there are larger output fluctuations in the knee and hip joints of the swing leg.展开更多
Although function projective synchronization in complex dynamical networks has been extensively studied in the literature, few papers deal with the problem between two different complex networks with correlated random...Although function projective synchronization in complex dynamical networks has been extensively studied in the literature, few papers deal with the problem between two different complex networks with correlated random disturbances. In this paper, we present some novel techniques to analyze the problem of synchronization. A probability approach is introduced to obtain an almost sure synchronization criterion. We also present some efficient approaches to analyze the problem of exponential synchronization. For the problem of synchronization in some complex networks, our approaches not only can replace the LaSalle-type theorem but also allow improvements of existing results in the literature. Finally, some numerical examples are provided to demonstrate the effectiveness of the proposed approaches.展开更多
The guaranty of power system stability during a random disturbances, requires systematically a wide knowledge of the disturbance components in one hand and their range of variation in the other hand. The major problem...The guaranty of power system stability during a random disturbances, requires systematically a wide knowledge of the disturbance components in one hand and their range of variation in the other hand. The major problem lies in the approach taken to the identification of the main components of this type of disturbances, Control strategy will only be effective if these disturbances are acceptably modeled. A better approximation of the dynamic components of these disturbances likely to affect power systems, leading to the implementation of a highly reliable control strategy. The identification and evaluation of dynamic components of these disturbances will be the major objective of this study. The control strategy of such disturbances, random, will be develooed to adant itto a wind farm connected to an electrical network.展开更多
In this paper, we discuss the driving-response synchronization problem for two memristive neural networks with retarded and advanced arguments under the condition of additional noise. The control law is related to the...In this paper, we discuss the driving-response synchronization problem for two memristive neural networks with retarded and advanced arguments under the condition of additional noise. The control law is related to the linear time-delay feedback term, and the discontinuous feedback term. Moreover, the random different equation is used to prove the stability of this theory. At the end, the simulation results verify the correctness of the theoretical results.展开更多
In this paper,a new stochastic analysis tool on semi-global stability is constructed,for nonlinear systems disturbed by stochastic processes with strongly bounded in probability.The definition of semi-global noise to ...In this paper,a new stochastic analysis tool on semi-global stability is constructed,for nonlinear systems disturbed by stochastic processes with strongly bounded in probability.The definition of semi-global noise to state practical stability in probability and its Lyapunov criterion for random systems are presented.As a major application of stability,the semi-global practical tracking of random nonlinear systems based on dynamic surface control technique is considered.The trajectory tracking of manipulator robot driven by direct current motors is carried out in simulation to illustrate the effectiveness and feasibility of the control scheme.展开更多
基金supported by the Science Fund for Creative Research Groups of National Natural Science Foundation of China(51221004)the National Natural Science Foundation of China(11172260,11372270,and 51375434)+2 种基金the Higher School Specialized Research Fund for the Doctoral Program(20110101110016)the Science and technology project of Zhejiang Province(2013C31086)the Fundamental Research Funds forthe Central Universities of China(2013XZZX005)
文摘During bipedal walking,it is critical to detect and adjust the robot postures by feedback control to maintain its normal state amidst multi-source random disturbances arising from some unavoidable uncertain factors.The radical basis function（RBF）neural network model of a five-link biped robot is established,and two certain disturbances and a randomly uncertain disturbance are then mixed with the optimal torques in the network model to study the performance of the biped robot by several evaluation indices and a specific Poincar′e map.In contrast with the simulations,the response varies as desired under optimal inputting while the output is fluctuating in the situation of disturbance driving.Simulation results from noise inputting also show that the dynamics of the robot is less sensitive to the disturbance of knee joint input of the swing leg than those of the other three joints,the response errors of the biped will be increasing with higher disturbance levels,and especially there are larger output fluctuations in the knee and hip joints of the swing leg.
基金Project supported by the National Natural Science Foundation of China(Grant No.61273015)
文摘Although function projective synchronization in complex dynamical networks has been extensively studied in the literature, few papers deal with the problem between two different complex networks with correlated random disturbances. In this paper, we present some novel techniques to analyze the problem of synchronization. A probability approach is introduced to obtain an almost sure synchronization criterion. We also present some efficient approaches to analyze the problem of exponential synchronization. For the problem of synchronization in some complex networks, our approaches not only can replace the LaSalle-type theorem but also allow improvements of existing results in the literature. Finally, some numerical examples are provided to demonstrate the effectiveness of the proposed approaches.
文摘The guaranty of power system stability during a random disturbances, requires systematically a wide knowledge of the disturbance components in one hand and their range of variation in the other hand. The major problem lies in the approach taken to the identification of the main components of this type of disturbances, Control strategy will only be effective if these disturbances are acceptably modeled. A better approximation of the dynamic components of these disturbances likely to affect power systems, leading to the implementation of a highly reliable control strategy. The identification and evaluation of dynamic components of these disturbances will be the major objective of this study. The control strategy of such disturbances, random, will be develooed to adant itto a wind farm connected to an electrical network.
文摘In this paper, we discuss the driving-response synchronization problem for two memristive neural networks with retarded and advanced arguments under the condition of additional noise. The control law is related to the linear time-delay feedback term, and the discontinuous feedback term. Moreover, the random different equation is used to prove the stability of this theory. At the end, the simulation results verify the correctness of the theoretical results.
基金supported by the National Natural Science Foundations of China under Grant No.62073275。
文摘In this paper,a new stochastic analysis tool on semi-global stability is constructed,for nonlinear systems disturbed by stochastic processes with strongly bounded in probability.The definition of semi-global noise to state practical stability in probability and its Lyapunov criterion for random systems are presented.As a major application of stability,the semi-global practical tracking of random nonlinear systems based on dynamic surface control technique is considered.The trajectory tracking of manipulator robot driven by direct current motors is carried out in simulation to illustrate the effectiveness and feasibility of the control scheme.
