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Global Dynamic Neuroadaptive Tracking Control of Strict-Feedback Systems
Jeng-Tze Huang 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
By mainly using the multi-switching technique, the author has proposed a neuroadaptive backstepping controller to ensure the global tracking stability of strict feedback systems recently. However, the problem of exponential growth of neuron numbers with the dimension of system states has not been solved yet. Regarding this, a dynamic neural network approach is proposed here to alleviate such a difficulty in this paper. The concept is simple in that only those neurons nearby the current state are activated for compensating the unknown nonlinearities and hence the number of activated neurons is significantly reduced. Instead of classifying the neurons into the passive and the active ones, a set of smooth activating functions are used to modulate the neural basis functions. The major benefit is that the resulting estimated functions are infinitely differentiable, and thus rendering the backstepping tool applicable. The proposed design preserves the global tracking stability and saves a lot of on-line computation time simultaneously. Simulation results demonstrate the validity of the proposed design.
Aliou Diongue,Jeng-Tze Yang,Po-Yung Lai 한국응용곤충학회 2013 Journal of Asia-Pacific Entomology Vol.16 No.1
A morphometric study on H. armigera antenna showed four styles of sensilla, i.e., styloconica, chaetica,coeloconica, and trichodea, and their numbers were estimated. Sensilla trichodea detect inter and intraspecific communication signals and was the most numerous. They were divided into three types: type I, the longest,with a length of 34.04±3.16 μm and about 2.16 to 2.42 μm in diameter at its base; 2) type II, intermediate,with a length of 22.58±0.77 μm and basal diameter of 1.8–2.52 μm; 3) type III, the shortest sensilla trichodea,with a length of 7.62±0.4 μm and a range in diameter similar to that of type II. The length of the female sensilla trichodea was longer than that of the male. The total number of sensilla trichodea was estimated to be 7520 on the antenna of the female, and 6831 on the male antenna. The lengths of the sensilla trichodea type I and type III were significantly different on male (t=4.6881, P=0.0034) and female antenna (t=18.9852, P=0.0001). An estimation of the predicted surface area of the most numerous type I on sampled segments between the 12th and 20th segments from a female of H. armigera showed a surface area of 5×103 μm2 and a sensillar density of 38 sensilla/103 μm2. The fraction of sensilla-occupied surface area was 0.4 μm2.