Fuzzy control based on Lyapunov function was employed to control the posture and the energy of an (acrobot) to make the transition from upswing control to balance control smoothly and stably. First, a control law base...Fuzzy control based on Lyapunov function was employed to control the posture and the energy of an (acrobot) to make the transition from upswing control to balance control smoothly and stably. First, a control law based on Lyapunov function was used to control the angle and the angular velocity of the second link towards zero when the energy of the acrobot reaches the potential energy at the unstable straight-up equilibrium position in the upswing process. The controller based on Lyapunov function makes the second link straighten nature relatively to the first link. At the same time, a fuzzy controller was designed to regulate the parameters of the upper control law to keep the change of the energy of the acrobot to a minimum, so that the switching from (upswing) to balance can be properly carried out and the acrobot can enter the balance quickly. The results of simulation show that the switching from upswing to balance can be completed smoothly, and the control effect of the acrobot is improved greatly.展开更多
A high-speed comer detection algorithm based on fuzzy ID3 decision tree was proposed. In the algorithm, the Bresenham circle with 3-pixel radius was used as the test mask, overlapping the candidate comers with the nuc...A high-speed comer detection algorithm based on fuzzy ID3 decision tree was proposed. In the algorithm, the Bresenham circle with 3-pixel radius was used as the test mask, overlapping the candidate comers with the nucleus. Connected pixels on the circle were applied to compare the intensity value with the nucleus, with the membership function used to give the fuzzy result. The pixel with maximum information gain was chosen as the parent node to build a binary decision tree. Thus, the comer detector was derived. The pictures taken in Fengtai Railway Station in Beijing were used to test the method. The experimental results show that when the number of pixels on the test mask is chosen to be 9, best result can be obtained. The comer detector significantly outperforms existing detector in computational efficiency without sacrificing the quality and the method also provides high performance against Poisson noise and Gaussian blur.展开更多
文摘Fuzzy control based on Lyapunov function was employed to control the posture and the energy of an (acrobot) to make the transition from upswing control to balance control smoothly and stably. First, a control law based on Lyapunov function was used to control the angle and the angular velocity of the second link towards zero when the energy of the acrobot reaches the potential energy at the unstable straight-up equilibrium position in the upswing process. The controller based on Lyapunov function makes the second link straighten nature relatively to the first link. At the same time, a fuzzy controller was designed to regulate the parameters of the upper control law to keep the change of the energy of the acrobot to a minimum, so that the switching from (upswing) to balance can be properly carried out and the acrobot can enter the balance quickly. The results of simulation show that the switching from upswing to balance can be completed smoothly, and the control effect of the acrobot is improved greatly.
基金Project(J2008X011) supported by the Natural Science Foundation of Ministry of Railway and Tsinghua University,China
文摘A high-speed comer detection algorithm based on fuzzy ID3 decision tree was proposed. In the algorithm, the Bresenham circle with 3-pixel radius was used as the test mask, overlapping the candidate comers with the nucleus. Connected pixels on the circle were applied to compare the intensity value with the nucleus, with the membership function used to give the fuzzy result. The pixel with maximum information gain was chosen as the parent node to build a binary decision tree. Thus, the comer detector was derived. The pictures taken in Fengtai Railway Station in Beijing were used to test the method. The experimental results show that when the number of pixels on the test mask is chosen to be 9, best result can be obtained. The comer detector significantly outperforms existing detector in computational efficiency without sacrificing the quality and the method also provides high performance against Poisson noise and Gaussian blur.
