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Adaptive Multi-class Support Vector Machine for Microarray Classification and Gene Selection
Juntao Li,Yingmin Jia,Junping Du,Fashan Yu 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper proposes an adaptive multi-classs upport vector machine for simultaneous microarray classification and gene selection. By evaluating the gene ranking significance, the adaptive multi-class support vector machine is shown to encourage an adaptive grouping effect in the process of building classifiers, thus leading as parse multi-classifiers with enhanced interpretability. Based on a reasonablec orrelation between the two regularization parameters, an efficient solution path algorithm is developed for solving the proposed support vector machine. Experiments performed on the leukaemia data set are provided to verify the obtained results.
Event-based Consensus Control of Multi-agent Systems by L∞ Theory
Yang Liu,Yingmin Jia 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.3
This paper investigates the consensus problem of multi-agent systems with general linear models by theevent-based control strategy, and develops the protocol design method using the L∞ control theory. A distributedevent-based protocol, which yields the control inputs using the estimated states based on local information at eventtimes, is presented for the asynchronously event-triggered communication network. Here, the state estimationerrors, arising from the event-based interconnection, are regarded as external disturbances with limited peak values. Then by defining a controlled output that measures the state disagreement among agents, the consensus conditionand controller design criterion are obtained by the L∞ theory of disturbed systems. It shows that all agents willconverge to a desired bounded region around the consensus trajectory under the proposed protocol.
Adaptive Control of a Hose and Drogue System with Input Nonlinearities and Partial State Constraints
Liang Chang,Yingmin Jia 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.10
This paper proposes a novel multi-objective controller for the hose and drogue system, to address the input nonlinearities of dead-zone and constraint as well as partial state constraints. Based upon a smooth auxiliary function, a new dead-zone compensation method is developed to offset the unknown dead-zone nonlinearity, and the obtained controller can also deal with the input constraint by employing the Nussbaum-function-based method. Subsequently, based upon a new barrier Lyapunov function and the parameter projection method, the proposed controller can enforce the partial state constraints in the presence of the partial differential characteristics of the hose and drogue system. A simulation example is presented to illustrate the effectiveness of the proposed controller.
Formation Control of Discrete-Time Multi-Agent Systems by Iterative Learning Approach
Yang Liu,Yingmin Jia 제어·로봇·시스템학회 2012 International Journal of Control, Automation, and Vol.10 No.5
In this paper, the formation control problem is investigated for discrete-time multi-agent systems with unknown nonlinear dynamics by means of the iterative learning approach. For networks with switching topology, a distributed iterative learning scheme is developed using the local formation error data with anticipation in time, and a sufficient condition is derived to guarantee that the desired formation can be preserved during the whole finite-time motion or operation process, even in the pres-ence of initial formation errors. Simulation results illustrate the effectiveness of the proposed method.
Xuhui Lu,Yingmin Jia 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.11
The paper proposes an attitude synchronization algorithm of rigid bodies on Special Orthogonal Group SO(3), with parameter uncertainties, external disturbances, gyro biases and communication delays. A set of twoorder linear filters are introduced to cope with discontinuous communication delays, and only attitude information is required to be exchanged between rigid bodies. Then a set of gyro bias estimators are constructed with exponential convergence rates in the constant bias case and can also deal with time-varying gyro biases. Besides, a novel attractive manifold control method is also proposed so that the parameter estimation error terms can converge to zeros independent of persistent excitation condition. The proposed attractive manifold control method can be also robust toward external disturbances. The obtained control inputs are continuous and ensure the control performance of the closed-loop system, in the presence of discontinuous communication delays, external disturbances, parameter uncertainties and gyro biases. The effectiveness of the proposed algorithm is verified in the numerical simulations.
Liming Chen,Yingmin Jia 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.3
In this article, an output feedback control scheme is proposed for trajectory tracking of differentiallyflat systems. After applying the exact feedforward linearization, the tracking error dynamics is linearized as alinear time-varying (LTV) system, where only the state matrix is time-varying while the input and output matricesare time-invariant. Using linear parameter-varying (LPV) techniques based on polytopes, for the LTV system thecontroller matrices, which are set to be affine on time-varying parameters, are calculated by solving a set of linearmatrix inequalities (LMIs). An example for trajectory tracking of a two-wheeled mobile robot is given to show theeffectiveness of the proposed method.
Nonlinear Decoupling Control of Four-Wheel-Steering Vehicles with an Observer
Changfang Chen,Yingmin Jia 제어·로봇·시스템학회 2012 International Journal of Control, Automation, and Vol.10 No.4
This paper studies the input-output decoupling control for the nonlinear vehicle model consisting of three degrees of freedom. The technique of quasi-linearization is used to simplify the vehicle model, which preserves inherent coupling effects between longitudinal acceleration/braking force, steering angles and the vehicle states. By choosing the combined control inputs, the input-output map of the vehicle dynamical system is reconstructed. Based on the model, the input-output decoupling controller is proposed. Furthermore, an asymptotically stable observer is presented. A modified form of mean value theorem is used to design the observer for the nonlinear vehicle system with bounded Jacobian. The observer gain can be obtained by solving linear matrix inequalities (LMIs). Several simulations are carried out to show the improvements in vehicle handling and stability due to the input-output decoupling control.
Fengming Han,Yingmin Jia 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.2
This paper investigates the robust control problem for a planar two-link rigid-flexible coupling manipulator, whose input torques are influenced by bounded disturbances. A nonlinear partial differential equation (PDE) model which only contains measurable states in the boundary conditions is developed and based on this model, and a sliding mode control (SMC) scheme is proposed to realize joint angles reaching desired value, flexible vibration suppression and anti-interference. To overcome the difficulties brought by the inherent nonlinearity of the PDE and controller, the existence and uniqueness of the solution for the closed-loop system are proven by the Galerkin approximation sequences. The numerical simulations demonstrate the validity and effectiveness of our control design.
Adaptive Consensus Control for Multiple Euler-Lagrange Systems with External Disturbance
Yang Liu,Yingmin Jia 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.1
This article is devoted to the adaptive consensus control for directed networks of Euler-Lagrange systemswith both unknown parametric uncertainties and bounded external disturbances. In particular, an adaptive protocolwith simple distributed updating laws is proposed by combining the disturbance compensator technique, and theperformance analysis is given to demonstrate that the states of all disturbed Euler-Lagrange systems can convergeto consensus. A numerical example is included to illustrate the effectiveness of the developed protocol and validatethe theoretical results.
Robust H_∞ Consensus Control of Uncertain Multi-Agent Systems with Time Delays
Yang Liu,Yingmin Jia 제어·로봇·시스템학회 2011 International Journal of Control, Automation, and Vol.9 No.6
This paper is devoted to the robust H_∞ consensus control of multi-agent systems with model parameter uncertainties and external disturbances. In particular, switching networks of multiple agents with general linear dynamics are considered, and uncertain communication delays are also taken into account. It shows that a sufficient condition in terms of linear matrix inequalities (LMIs) is derived for the robust consensus performance with a given H_∞ disturbance attenuation level, and meanwhile the unknown feedback matrix of the proposed distributed state feedback protocol is also determined. A numerical example is included to validate the theoretical results.