IEEE Transactions on Systems Man and Cybernetics Part A-Systems and Humans最新文献_第2页

Event-Triggered Control for a Class of Nonlinear Multiagent Systems With Directed Graph 一类有向图非线性多智能体系统的事件触发控制

IEEE Transactions on Systems Man and Cybernetics Part A-Systems and Humans Pub Date : 2021-11-01 DOI: 10.1109/tsmc.2019.2962827

Zhenxing Li, Jun Yan, Wenwu Yu, Jianlong Qiu

引用次数: 23

Distributed Quantized Optimization Design of Continuous-Time Multiagent Systems Over Switching Graphs 切换图上连续时间多智能体系统的分布量化优化设计

IEEE Transactions on Systems Man and Cybernetics Part A-Systems and Humans Pub Date : 2021-11-01 DOI: 10.1109/tsmc.2020.2966636

Ziqin Chen, H. Ji

引用次数: 7

Robust 3-D Object Recognition via View-Specific Constraint 基于特定视图约束的鲁棒三维目标识别

IEEE Transactions on Systems Man and Cybernetics Part A-Systems and Humans Pub Date : 2021-11-01 DOI: 10.1109/TSMC.2020.2965729

Hongsen Liu, Yang Cong, Gan Sun, Yandong Tang

{"title":"Robust 3-D Object Recognition via View-Specific Constraint","authors":"Hongsen Liu, Yang Cong, Gan Sun, Yandong Tang","doi":"10.1109/TSMC.2020.2965729","DOIUrl":"https://doi.org/10.1109/TSMC.2020.2965729","url":null,"abstract":"Three-dimensional (3-D) object recognition task focuses on detecting the objects of a scene and estimating their 6-DOF pose via effective feature extraction methods. Most recent feature extraction methods are based on the deep neural networks and show good performances. However, these methods require rendering engine to assist in generating a large amount of training data, which need much time to converge and further lead to the block in a rapid industrial production line. Besides, for the common hand-crafted features, the lack of discriminant feature-points amongst various texture-less and surface-smooth objects can cause ambiguity in the process of feature-points matching. To address these challenges above, a hand-crafted 3-D feature descriptor with center offset and pose annotations is proposed in this article, which is called view-specific local projection statistics (VSLPSs). By relying on these annotations as seeds, a voting strategy is then used to transform the feature-points matching problem into the problem of voting an optimal model-view in the 6-DOF space. In this way, the ambiguity of feature-points matching caused by poor feature discrimination is eliminated. To the end, various experiments on three public datasets and our built 3-D bin-picking dataset demonstrate that our proposed VSLPS method performs well in comparison with the state-of-the-art.","PeriodicalId":55007,"journal":{"name":"IEEE Transactions on Systems Man and Cybernetics Part A-Systems and Humans","volume":"1 1","pages":"7109-7119"},"PeriodicalIF":0.0,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83113299","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 7

A Generalized System Approach to Intermittent Nonfragile Control of Stochastic Neutral Time-Varying Delay Systems 随机中立型时变时滞系统间歇非脆弱控制的广义系统方法

IEEE Transactions on Systems Man and Cybernetics Part A-Systems and Humans Pub Date : 2021-11-01 DOI: 10.1109/tsmc.2020.2965091

Kui Ding, Quanxin Zhu, Haidan Li

引用次数: 21

Adaptive Fuzzy Full-State and Output-Feedback Control for Uncertain Robots With Output Constraint 带输出约束的不确定机器人自适应模糊全状态输出反馈控制

IEEE Transactions on Systems Man and Cybernetics Part A-Systems and Humans Pub Date : 2021-11-01 DOI: 10.1109/tsmc.2019.2963072

Xinbo Yu, Wei He, Hongyi Li, Jian Sun

{"title":"Adaptive Fuzzy Full-State and Output-Feedback Control for Uncertain Robots With Output Constraint","authors":"Xinbo Yu, Wei He, Hongyi Li, Jian Sun","doi":"10.1109/tsmc.2019.2963072","DOIUrl":"https://doi.org/10.1109/tsmc.2019.2963072","url":null,"abstract":"This article focuses on the tracking control issue of robotic systems with dynamic uncertainties. To enhance tracking accuracy in a robotic manipulator with uncertainties, an adaptive fuzzy full-state feedback control is proposed. In view of output-feedback control with unknown states, a high-gain observer is employed to estimate unknown states. Considering the particular requirement that output of systems should be constrained in some practical working fields, we further design adaptive fuzzy full-state and output-feedback control schemes with output constraint to ensure that output maintains in constrained regions. By applying the Lyapunov theory, it is guaranteed that closed-loop systems are semiglobally uniformly ultimately bounded (SGUUB). Tangent-type barrier Lyapunov function is used for the controller design with output constraint and ensure stability. Finally, the effectiveness of our proposed methods is shown through both simulation examples and experimental results, comparative experiments in Baxter robot are proposed for evaluating the practicability of our proposed methods in actual applications.","PeriodicalId":55007,"journal":{"name":"IEEE Transactions on Systems Man and Cybernetics Part A-Systems and Humans","volume":"51 1","pages":"6994-7007"},"PeriodicalIF":0.0,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81521431","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 137

Impulsive Stabilization of Nonlinear Time-Delay System With Input Saturation via Delay-Dependent Polytopic Approach 基于时滞相关多面体的输入饱和非线性时滞系统脉冲镇定

IEEE Transactions on Systems Man and Cybernetics Part A-Systems and Humans Pub Date : 2021-11-01 DOI: 10.1109/tsmc.2019.2963398

Hongfei Li, Chuandong Li, Deqiang Ouyang, S. Nguang

引用次数: 19

LPV Scheme for Robust Adaptive Output Feedback Consensus of Lipschitz Multiagents Using Lipschitz Nonlinear Protocol 基于Lipschitz非线性协议的Lipschitz多智能体鲁棒自适应输出反馈一致性的LPV方案

IEEE Transactions on Systems Man and Cybernetics Part A-Systems and Humans Pub Date : 2021-11-01 DOI: 10.1109/tsmc.2020.2964567

A. Rehman, M. Rehan, N. Iqbal, C. Ahn

{"title":"LPV Scheme for Robust Adaptive Output Feedback Consensus of Lipschitz Multiagents Using Lipschitz Nonlinear Protocol","authors":"A. Rehman, M. Rehan, N. Iqbal, C. Ahn","doi":"10.1109/tsmc.2020.2964567","DOIUrl":"https://doi.org/10.1109/tsmc.2020.2964567","url":null,"abstract":"This article addresses the robust nonlinear adaptive consensus protocol design approach, for nonlinear multiagent (MA) systems under external perturbations with Lipschitz dynamics. Based on the existing results of the adaptive protocol using relative output information, a modified robust nonlinear adaptive consensus protocol for MAs is proposed. The Lipschitz nonlinearity in the agents’ dynamics and the adaptive protocol are reformulated using a composite linear parameter-varying (LPV) approach. Our composite LPV reformulation is less restrictive because it utilizes all the properties of Lipschitz functions. Consensus protocol design conditions based on the proposed reformulation of Lipschitz nonlinearities, Lyapunov theory, and the modified nonlinear consensus protocol are derived to attain the exponential consensus. The proposed consensus protocol approach is further extended by providing necessary and sufficient conditions for the straightforward evaluation of the robust adaptive protocol gains. The proposed fully distributed consensus protocol is robust to ensure the consensus error and adaptive gains bounded by eliminating the effect of disturbances. The resultant consensus control scheme reduces conservatism and is feasible for large values of Lipschitz constants. Finally, simulation results are presented for verifying the potency of the developed control strategies.","PeriodicalId":55007,"journal":{"name":"IEEE Transactions on Systems Man and Cybernetics Part A-Systems and Humans","volume":"9 1","pages":"7040-7050"},"PeriodicalIF":0.0,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80574013","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 15

Multi-Kernel Online Reinforcement Learning for Path Tracking Control of Intelligent Vehicles 基于多核在线强化学习的智能车辆路径跟踪控制

IEEE Transactions on Systems Man and Cybernetics Part A-Systems and Humans Pub Date : 2021-11-01 DOI: 10.1109/tsmc.2020.2966631

Jiahang Liu, Zhenhua Huang, Xin Xu, Xinglong Zhang, Shiliang Sun, Dazi Li

{"title":"Multi-Kernel Online Reinforcement Learning for Path Tracking Control of Intelligent Vehicles","authors":"Jiahang Liu, Zhenhua Huang, Xin Xu, Xinglong Zhang, Shiliang Sun, Dazi Li","doi":"10.1109/tsmc.2020.2966631","DOIUrl":"https://doi.org/10.1109/tsmc.2020.2966631","url":null,"abstract":"Path tracking control of intelligent vehicles has to deal with the difficulties of model uncertainties and nonlinearities. As a class of adaptive optimal control methods, reinforcement learning (RL) has received increasing attention in solving difficult control problems. However, feature representation and online learning ability are two major problems to be solved for learning control of uncertain dynamic systems. In this article, we propose a multi-kernel online RL approach for path tracking control of intelligent vehicles. In the proposed approach, a multiple kernel feature learning framework is designed for online learning control based on dual heuristic programming (DHP) and the new online learning control algorithm is called multi-kernel DHP (MKDHP). In MKDHP, instead of the expert knowledge for selecting and fine-tuning of a suitable kernel function, only a set of basic kernel functions is required to be predefined and the multi-kernel features can be learned for value function approximation in the critic. The simulation studies on path tracking control for intelligent vehicles have been conducted under $S$ -curve and urban road conditions. The results demonstrated that compared with other typical path tracking controllers for intelligent vehicles, such as the linear quadratic regulator (LQR), the pure pursuit controller and the ribbon-based controller, the proposed multi-kernel learning controller can achieve better performance in terms of tracking precision and smoothness.","PeriodicalId":55007,"journal":{"name":"IEEE Transactions on Systems Man and Cybernetics Part A-Systems and Humans","volume":"43 1","pages":"6962-6975"},"PeriodicalIF":0.0,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86300454","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 18

Classification of EEG Signals on VEP-Based BCI Systems With Broad Learning 基于vep的广义学习BCI系统的脑电信号分类

IEEE Transactions on Systems Man and Cybernetics Part A-Systems and Humans Pub Date : 2021-11-01 DOI: 10.1109/tsmc.2020.2964684

Z. Gao, Weidong Dang, Mingxu Liu, Wei Guo, Kai Ma, Guanrong Chen

{"title":"Classification of EEG Signals on VEP-Based BCI Systems With Broad Learning","authors":"Z. Gao, Weidong Dang, Mingxu Liu, Wei Guo, Kai Ma, Guanrong Chen","doi":"10.1109/tsmc.2020.2964684","DOIUrl":"https://doi.org/10.1109/tsmc.2020.2964684","url":null,"abstract":"Brain–computer interface (BCI) systems based on electroencephalography (EEG) signals have been extensively used in medical practice. To enhance the BCI performance, improving the classification accuracy of EEG signals is the key, which has always been the focus of research and development. In this article, a novel method integrating complex network and broad learning system (BLS) is proposed for visual evoked potential (VEP)-based BCI research. First, systematic VEP-based brain experiments are conducted for obtaining EEG signals, including steady-state VEP (SSVEP) and steady-state motion VEP (SSMVEP). Then, limited penetrable visibility graph (LPVG) and its degree sequence are employed to implement the preliminary feature extraction. All these features are finally fed into a BLS to study and classify the SSVEP and SSMVEP signals, respectively. The classification results show that our LPVG-based BLS can effectively classify VEP-based EEG signals, with average classification accuracy 96.22% for SSVEP and 74.54% for SSMVEP. These results are significantly better than other comparison methods as well as traditional CCA-based methods. All these open up new venues for studying EEG-based BCI systems via the fusion of network science and BLS.","PeriodicalId":55007,"journal":{"name":"IEEE Transactions on Systems Man and Cybernetics Part A-Systems and Humans","volume":"6 1","pages":"7143-7151"},"PeriodicalIF":0.0,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88876326","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 35

Optimal Consensus via Distributed Protocol for Second-Order Multiagent Systems 基于分布式协议的二阶多智能体系统最优一致性

IEEE Transactions on Systems Man and Cybernetics Part A-Systems and Humans Pub Date : 2021-10-01 DOI: 10.1109/TSMC.2019.2959394

Hui Sun, Yungang Liu, Fengzhong Li

{"title":"Optimal Consensus via Distributed Protocol for Second-Order Multiagent Systems","authors":"Hui Sun, Yungang Liu, Fengzhong Li","doi":"10.1109/TSMC.2019.2959394","DOIUrl":"https://doi.org/10.1109/TSMC.2019.2959394","url":null,"abstract":"This article is devoted to the optimal protocol for the leader-following consensus of second-order multiagent systems. Remarkably, the global consensus cost functional and the directed topology are pregiven, and the optimal protocol to be sought is distributed. This makes the Riccati-based strategies inapplicable, by which merely centralized protocol can be derived. As the main contribution of this article, an effective strategy of seeking a distributed optimal protocol is proposed for second-order agents over the digraph of the directed tree. Detailedly, the feasibility of distributed optimal protocol is first affirmed, that is, the existence of optimal gain parameters can be guaranteed. Then, by recursively deriving the completely explicit formulas of the consensus errors of relative position and velocity, an online implementable algorithm is developed to achieve the parameterization of the cost functional, that is, to obtain the explicit formula of the cost functional with respect to gain parameters of all agents. Lastly, the desired optimal gain parameters are obtained by minimizing the explicit formula.","PeriodicalId":55007,"journal":{"name":"IEEE Transactions on Systems Man and Cybernetics Part A-Systems and Humans","volume":"78 1","pages":"6218-6228"},"PeriodicalIF":0.0,"publicationDate":"2021-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82845436","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 9