To model a true three-dimensional(3D)display system,we introduced the method of voxel molding to obtain the stereoscopic imaging space of the system.For the distribution of each voxel,we proposed a four-dimensional(4D...To model a true three-dimensional(3D)display system,we introduced the method of voxel molding to obtain the stereoscopic imaging space of the system.For the distribution of each voxel,we proposed a four-dimensional(4D)Givone–Roessor(GR)model for state-space representation—that is,we established a local state-space model with the 3D position and one-dimensional time coordi-nates to describe the system.First,we extended the original elementary operation approach to a 4D condition and proposed the implementation steps of the realiza-tion matrix of the 4D GR model.Then,we described the working process of a true 3D display system,analyzed its real-time performance,introduced the fixed-point quantization model to simplify the system matrix,and derived the conditions for the global asymptotic stability of the system after quantization.Finally,we provided an example to prove the true 3D display system’s feasibility by simulation.The GR-model-representation method and its implementation steps proposed in this paper simplified the system’s mathematical expression and facilitated the microcon-troller software implementation.Real-time and stability analyses can be used widely to analyze and design true 3D display systems.展开更多
Online gradient algorithm has been widely used as a learning algorithm for feedforward neural network training. In this paper, we prove a weak convergence theorem of an online gradient algorithm with a penalty term, a...Online gradient algorithm has been widely used as a learning algorithm for feedforward neural network training. In this paper, we prove a weak convergence theorem of an online gradient algorithm with a penalty term, assuming that the training examples are input in a stochastic way. The monotonicity of the error function in the iteration and the boundedness of the weight are both guaranteed. We also present a numerical experiment to support our results.展开更多
This paper proposes a simple solution for the stabilization of a mini-quadcopter carrying a 3DoF（degrees of freedom） manipulator robot in order to enhance its achievable workspace and application profile. Since the ...This paper proposes a simple solution for the stabilization of a mini-quadcopter carrying a 3DoF（degrees of freedom） manipulator robot in order to enhance its achievable workspace and application profile. Since the motion of the arm induces torques which degrade the stability of the system, in the present work, we consider the stabilization of both subsystems： the quadcopter and the robotic arm. The mathematical model of the system is based on quaternions. Likewise, an attitude control law consisting of a bounded quaternion-based feedback stabilizes the quadcopter to a desired attitude while the arm is evolving. The next stage is the translational dynamics which is simplified for control（nonlinear） design purposes. The aforementioned controllers are based on saturation functions whose stability is explicitly proved in the Lyapunov sense. Finally, experimental results and a statistical study validate the proposed control strategy.展开更多
The study presented in this paper is in continuation with the paper published by the authors on parallel fuzzy proportional plus fuzzy integral plus fuzzy derivative （FP ＋ FI ＋ FD） controller. It addresses the sta...The study presented in this paper is in continuation with the paper published by the authors on parallel fuzzy proportional plus fuzzy integral plus fuzzy derivative （FP ＋ FI ＋ FD） controller. It addresses the stability analysis of parallel FP ＋ FI ＋ FD controller. The famous＂small gain theorem＂ is used to study the bounded-input and bounded-output （BIBO） stability of the fuzzy controller. Sufficient BIBO-stability conditions are developed for parallel FP ＋ FI ＋ FD controller. FP ＋ FI ＋ FD controller is derived from the conventional parallel proportional plus integral plus derivative （PID） controller. The parallel FP ＋ FI ＋ FD controller is actually a nonlinear controller with variable gains. It shows much better set-point tracking, disturbance rejection and noise suppression for nonlinear processes as compared to conventional PID controller.展开更多
The uniform boundedness and existence of a global periodic attractor for a third-order phase-locked loop with general phase detector characteristics and frequency modulation input is proved under some parametric condi...The uniform boundedness and existence of a global periodic attractor for a third-order phase-locked loop with general phase detector characteristics and frequency modulation input is proved under some parametric conditions.展开更多
基金This work was supported by the Key Research and Development Projects of Science and Technology Development Plan of Jilin Provincial Department of Science and Technology(20180201090gx).
文摘To model a true three-dimensional(3D)display system,we introduced the method of voxel molding to obtain the stereoscopic imaging space of the system.For the distribution of each voxel,we proposed a four-dimensional(4D)Givone–Roessor(GR)model for state-space representation—that is,we established a local state-space model with the 3D position and one-dimensional time coordi-nates to describe the system.First,we extended the original elementary operation approach to a 4D condition and proposed the implementation steps of the realiza-tion matrix of the 4D GR model.Then,we described the working process of a true 3D display system,analyzed its real-time performance,introduced the fixed-point quantization model to simplify the system matrix,and derived the conditions for the global asymptotic stability of the system after quantization.Finally,we provided an example to prove the true 3D display system’s feasibility by simulation.The GR-model-representation method and its implementation steps proposed in this paper simplified the system’s mathematical expression and facilitated the microcon-troller software implementation.Real-time and stability analyses can be used widely to analyze and design true 3D display systems.
基金Partly supported by the National Natural Science Foundation of China,and the Basic Research Program of the Committee of ScienceTechnology and Industry of National Defense of China.
文摘Online gradient algorithm has been widely used as a learning algorithm for feedforward neural network training. In this paper, we prove a weak convergence theorem of an online gradient algorithm with a penalty term, assuming that the training examples are input in a stochastic way. The monotonicity of the error function in the iteration and the boundedness of the weight are both guaranteed. We also present a numerical experiment to support our results.
基金supported by CONACYT-Mexico,Lab Ex PERSYVAL-Lab(No.ANR-11-LABX-0025)Equipex ROBOTEX(No.ANR-10-EQPX-44-01)
文摘This paper proposes a simple solution for the stabilization of a mini-quadcopter carrying a 3DoF（degrees of freedom） manipulator robot in order to enhance its achievable workspace and application profile. Since the motion of the arm induces torques which degrade the stability of the system, in the present work, we consider the stabilization of both subsystems： the quadcopter and the robotic arm. The mathematical model of the system is based on quaternions. Likewise, an attitude control law consisting of a bounded quaternion-based feedback stabilizes the quadcopter to a desired attitude while the arm is evolving. The next stage is the translational dynamics which is simplified for control（nonlinear） design purposes. The aforementioned controllers are based on saturation functions whose stability is explicitly proved in the Lyapunov sense. Finally, experimental results and a statistical study validate the proposed control strategy.
文摘The study presented in this paper is in continuation with the paper published by the authors on parallel fuzzy proportional plus fuzzy integral plus fuzzy derivative （FP ＋ FI ＋ FD） controller. It addresses the stability analysis of parallel FP ＋ FI ＋ FD controller. The famous＂small gain theorem＂ is used to study the bounded-input and bounded-output （BIBO） stability of the fuzzy controller. Sufficient BIBO-stability conditions are developed for parallel FP ＋ FI ＋ FD controller. FP ＋ FI ＋ FD controller is derived from the conventional parallel proportional plus integral plus derivative （PID） controller. The parallel FP ＋ FI ＋ FD controller is actually a nonlinear controller with variable gains. It shows much better set-point tracking, disturbance rejection and noise suppression for nonlinear processes as compared to conventional PID controller.
基金Project supported by the National Natural Science Foundation of China.
文摘The uniform boundedness and existence of a global periodic attractor for a third-order phase-locked loop with general phase detector characteristics and frequency modulation input is proved under some parametric conditions.
