Graph Neural Networks(GNNs)have demonstrated outstanding capabilities in processing graph-structured data and are increasingly being integrated into large-scale pre-trained models,such as Large Language Models(LLMs),t...Graph Neural Networks(GNNs)have demonstrated outstanding capabilities in processing graph-structured data and are increasingly being integrated into large-scale pre-trained models,such as Large Language Models(LLMs),to enhance structural reasoning,knowledge retrieval,and memory management.The expansion of their application scope imposes higher requirements on the robustness of GNNs.However,as GNNs are applied to more dynamic and heterogeneous environments,they become increasingly vulnerable to real-world perturbations.In particular,graph data frequently encounters joint adversarial perturbations that simultaneously affect both structures and features,which are significantly more challenging than isolated attacks.These disruptions,caused by incomplete data,malicious attacks,or inherent noise,pose substantial threats to the stable and reliable performance of traditional GNN models.To address this issue,this study proposes the Dual-Shield Graph Neural Network(DSGNN),a defense model that simultaneously mitigates structural and feature perturbations.DSGNN utilizes two parallel GNN channels to independently process structural noise and feature noise,and introduces an adaptive fusion mechanism that integrates information from both pathways to generate robust node representations.Theoretical analysis demonstrates that DSGNN achieves a tighter robustness boundary under joint perturbations compared to conventional single-channel methods.Experimental evaluations across Cora,CiteSeer,and Industry datasets show that DSGNN achieves the highest average classification accuracy under various adversarial settings,reaching 81.24%,71.94%,and 81.66%,respectively,outperforming GNNGuard,GCN-Jaccard,GCN-SVD,RGCN,and NoisyGNN.These results underscore the importance of multi-view perturbation decoupling in constructing resilient GNN models for real-world applications.展开更多
Physics-informed neural networks(PINNs)have shown considerable promise for performing numerical simulations in fluid mechanics.They provide mesh-free,end-to-end approaches by embedding physical laws into their loss fu...Physics-informed neural networks(PINNs)have shown considerable promise for performing numerical simulations in fluid mechanics.They provide mesh-free,end-to-end approaches by embedding physical laws into their loss functions.However,when addressing complex flow problems,PINNs still face some challenges such as activation saturation and vanishing gradients in deep network training,leading to slow convergence and insufficient prediction accuracy.We present physics-informed neural networks incorporating lattice Boltzmann method optimized by tanh robust weight initialization(T-PINN-LBM)to address these challenges.This approach fuses the mesoscopic lattice Boltzmann model with the automatic differentiation framework of PINNs.It also implements a tanh robust weight initialization method derived from fixed point analysis.This model effectively mitigates activation and gradient decay in deep networks,improving convergence speed and data efficiency in multiscale flow simulations.We validate the effectiveness of the model on the classical arithmetic example of lid-driven cavity flow.Compared to the traditional Xavier initialized PINN and PINN-LBM,T-PINNLBM reduces the mean absolute error(MAE)by one order of magnitude at the same network depth and maintains stable convergence in deeper networks.The results demonstrate that this model can accurately capture complex flow structures without prior data,providing a new feasible pathway for data-free driven fluid simulation.展开更多
A robust neural network controller （NNC） is presented for tracking control of underwater vehicles with uncertainties. The controller is obtained by using backstepping technique and Lyapunov function design in combin...A robust neural network controller （NNC） is presented for tracking control of underwater vehicles with uncertainties. The controller is obtained by using backstepping technique and Lyapunov function design in combination with neural network identification. Modeling errors and environmental disturbances are considered in the mathematical model. A twolayer neural network is introduced to compensate the modeling errors, while H∞ control strategy is used to achieve the L2-gain performance. The uniformly ultimately bounded （UUB） stabilities of tracking errors and NN weights are guaran- teed through the proposed controller. An on-line NN weights tuning algorithm is also propesed. Good performances of the tracking control system are illustrated bv the results of numerical simulations.展开更多
In this paper, the global exponential robust stability of neural networks with ume-varying delays is investigated. By using nonnegative matrix theory and the Halanay inequality, a new sufficient condition for global e...In this paper, the global exponential robust stability of neural networks with ume-varying delays is investigated. By using nonnegative matrix theory and the Halanay inequality, a new sufficient condition for global exponential robust stability is presented. It is shown that the obtained result is different from or improves some existing ones reported in the literatures. Finally, some numerical examples and a simulation are given to show the effectiveness of the obtained result.展开更多
In this paper,the global robust exponential stability is considered for a class of neural networks with parametric uncer- tainties and time-varying delay.By using Lyapunov functional method,and by resorting to the new...In this paper,the global robust exponential stability is considered for a class of neural networks with parametric uncer- tainties and time-varying delay.By using Lyapunov functional method,and by resorting to the new technique for estimating the upper bound of the derivative of the Lyapunov functional,some less conservative exponential stability criteria are derived in terms of linear matrix inequalities (LMIs).Numerical examples are presented to show the effectiveness of the proposed method.展开更多
In practical multi-sensor information fusion systems, there exists uncertainty about the network structure, active state of sensors, and information itself （including fuzziness, randomness, incompleteness as well as ...In practical multi-sensor information fusion systems, there exists uncertainty about the network structure, active state of sensors, and information itself （including fuzziness, randomness, incompleteness as well as roughness, etc）. Hence it requires investigating the problem of uncertain information fusion. Robust learning algorithm which adapts to complex environment and the fuzzy inference algorithm which disposes fuzzy information are explored to solve the problem. Based on the fusion technology of neural networks and fuzzy inference algorithm, a multi-sensor uncertain information fusion system is modeled. Also RANFIS learning algorithm and fusing weight synthesized inference algorithm are developed from the ANFIS algorithm according to the concept of robust neural networks. This fusion system mainly consists of RANFIS confidence estimator, fusing weight synthesized inference knowledge base and weighted fusion section. The simulation result demonstrates that the proposed fusion model and algorithm have the capability of uncertain information fusion, thus is obviously advantageous compared with the conventional Kalman weighted fusion algorithm.展开更多
This paper deals with the problem of delay-dependent robust stability for a class of switched Hopfield neural networks with time-varying structured uncertainties and time-varying delay. Some Lyapunov-KrasoVskii functi...This paper deals with the problem of delay-dependent robust stability for a class of switched Hopfield neural networks with time-varying structured uncertainties and time-varying delay. Some Lyapunov-KrasoVskii functionals are constructed and the linear matrix inequality （LMI） approach and free weighting matrix method are employed to devise some delay-dependent stability criteria which guarantee the existence, uniqueness and global exponential stability of the equilibrium point for all admissible parametric uncertainties. By using Leibniz-Newton formula, free weighting matrices are employed to express this relationship, which implies that the new criteria are less conservative than existing ones. Some examples suggest that the proposed criteria are effective and are an improvement over previous ones.展开更多
For a single machine infinite power system with thyristor controlled series compensation(TCSC) device, which is affected by system model uncertainties, nonlinear time-delays and external unknown disturbances, we prese...For a single machine infinite power system with thyristor controlled series compensation(TCSC) device, which is affected by system model uncertainties, nonlinear time-delays and external unknown disturbances, we present a robust adaptive backstepping control scheme based on the radial basis function neural network(RBFNN). The RBFNN is introduced to approximate the complex nonlinear function involving uncertainties and external unknown disturbances, and meanwhile a new robust term is constructed to further estimate the system residual error,which removes the requirement of knowing the upper bound of the disturbances and uncertainty terms. The stability analysis of the power system is presented based on the Lyapunov function,which can guarantee the uniform ultimate boundedness(UUB) of all parameters and states of the whole closed-loop system. A comparison is made between the RBFNN-based robust adaptive control and the general backstepping control in the simulation part to verify the effectiveness of the proposed control scheme.展开更多
Taking advantage of their inherent dexterity,robotic arms are competent in completing many tasks efficiently.As a result of the modeling complexity and kinematic uncertainty of robotic arms,model-free control paradigm...Taking advantage of their inherent dexterity,robotic arms are competent in completing many tasks efficiently.As a result of the modeling complexity and kinematic uncertainty of robotic arms,model-free control paradigm has been proposed and investigated extensively.However,robust model-free control of robotic arms in the presence of noise interference remains a problem worth studying.In this paper,we first propose a new kind of zeroing neural network(ZNN),i.e.,integration-enhanced noise-tolerant ZNN(IENT-ZNN)with integration-enhanced noisetolerant capability.Then,a unified dual IENT-ZNN scheme based on the proposed IENT-ZNN is presented for the kinematic control problem of both rigid-link and continuum robotic arms,which improves the performance of robotic arms with the disturbance of noise,without knowing the structural parameters of the robotic arms.The finite-time convergence and robustness of the proposed control scheme are proven by theoretical analysis.Finally,simulation studies and experimental demonstrations verify that the proposed control scheme is feasible in the kinematic control of different robotic arms and can achieve better results in terms of accuracy and robustness.展开更多
This paper proposed a robust adaptive neural network control for an XY table. The XY table composes of two AC servo drives controlled independently. The neural network with radial basis function is employed for veloci...This paper proposed a robust adaptive neural network control for an XY table. The XY table composes of two AC servo drives controlled independently. The neural network with radial basis function is employed for velocity and position tracking control of AC servo drives to improve the system’s dynamic performance and precision. A robust adaptive term is applied to overcome the external disturbances. The stability and the convergence of the system are proved by Lyapunov theory. The proposed controller is implemented in a DSP-based motion board. The validity and robustness of the controller are verified through experimental results.展开更多
In this paper, we focus on the robust adaptive synchronization between two coupled chaotic neural networks with all the parameters unknown and time-varying delay. In order to increase the robustness of the two coupled...In this paper, we focus on the robust adaptive synchronization between two coupled chaotic neural networks with all the parameters unknown and time-varying delay. In order to increase the robustness of the two coupled neural networks, the key idea is that a sliding-mode-type controller is employed. Moreover, without the estimate values of the network unknown parameters taken as an updating object, a new updating object is introduced in the constructing of controller. Using the proposed controller, without any requirements for the boundedness, monotonicity and differentiability of activation functions, and symmetry of connections, the two coupled chaotic neural networks can achieve global robust synchronization no matter what their initial states are. Finally, the numerical simulation validates the effectiveness and feasibility of the proposed technique.展开更多
The robust exponential stability of a larger class of discrete-time recurrent neural networks (RNNs) is explored in this paper. A novel neural network model, named standard neural network model (SNNM), is introduced t...The robust exponential stability of a larger class of discrete-time recurrent neural networks (RNNs) is explored in this paper. A novel neural network model, named standard neural network model (SNNM), is introduced to provide a general framework for stability analysis of RNNs. Most of the existing RNNs can be transformed into SNNMs to be analyzed in a unified way. Applying Lyapunov stability theory method and S-Procedure technique, two useful criteria of robust exponential stability for the discrete-time SNNMs are derived. The conditions presented are formulated as linear matrix inequalities (LMIs) to be easily solved using existing efficient convex optimization techniques. An example is presented to demonstrate the transformation procedure and the effectiveness of the results.展开更多
We consider qualitatively robust predictive mappings of stochastic environmental models, where protection against outlier data is incorporated. We utilize digital representations of the models and deploy stochastic bi...We consider qualitatively robust predictive mappings of stochastic environmental models, where protection against outlier data is incorporated. We utilize digital representations of the models and deploy stochastic binary neural networks that are pre-trained to produce such mappings. The pre-training is implemented by a back propagating supervised learning algorithm which converges almost surely to the probabilities induced by the environment, under general ergodicity conditions.展开更多
Diffractive optical neural networks(DONNs)have exhibited the advantages of parallelization,high speed,and low consumption.However,the existing DONNs based on free-space diffractive optical elements are bulky and unste...Diffractive optical neural networks(DONNs)have exhibited the advantages of parallelization,high speed,and low consumption.However,the existing DONNs based on free-space diffractive optical elements are bulky and unsteady.In this study,we propose a planar-waveguide integrated diffractive neural network chip architecture.The three diffractive layers are engraved on the same side of a quartz wafer.The three-layer chip is designed with 32-mm3 processing space and enables a computing speed of 3.1×109 Tera operations per second.The results show that the proposed chip achieves 73.4%experimental accuracy for the Modified National Institute of Standards and Technology database while showing the system’s robustness in a cycle test.The consistency of experiments is 88.6%,and the arithmetic mean standard deviation of the results is~4.7%.The proposed chip architecture can potentially revolutionize high-resolution optical processing tasks with high robustness.展开更多
Dear Editor,Aiming at the consensus tracking problem of a class of unknown heterogeneous nonlinear multiagent systems(MASs)with input constraints,a novel data-driven iterative learning consensus control(ILCC)protocol ...Dear Editor,Aiming at the consensus tracking problem of a class of unknown heterogeneous nonlinear multiagent systems(MASs)with input constraints,a novel data-driven iterative learning consensus control(ILCC)protocol based on zeroing neural networks(ZNNs)is proposed.First,a dynamic linearization data model(DLDM)is acquired via dynamic linearization technology(DLT).展开更多
The robust stability of uncertain neural network with time-varying delay was investigated.The norm-bounded uncertainties are included in the system matrices.The constraint on time-varying delays is removed,which means...The robust stability of uncertain neural network with time-varying delay was investigated.The norm-bounded uncertainties are included in the system matrices.The constraint on time-varying delays is removed,which means that a fast time-varying delay is admissible.Some new delay-dependent stability criteria were presented by using Lyapunov-Krasovskii functional and linear matrix inequalities(LMIs) approaches.Finally,a numerical example was given to illustrate the effectiveness and innovation nature of the developed techniques.展开更多
A type of stochastic interval delayed Hopfield neural networks as du(t) = [-AIu(t) + WIf(t,u(t)) + WIτf7τ(uτ(t)] dt +σ(t, u(t), uτ(t)) dw(t) on t≥0 with initiated value u(s) = ζ(s) on - τ≤s≤0 has been studie...A type of stochastic interval delayed Hopfield neural networks as du(t) = [-AIu(t) + WIf(t,u(t)) + WIτf7τ(uτ(t)] dt +σ(t, u(t), uτ(t)) dw(t) on t≥0 with initiated value u(s) = ζ(s) on - τ≤s≤0 has been studied. By using the Razumikhin theorem and Lyapunov functions, some sufficient conditions of their globally asymptotic robust stability and global exponential stability on such systems have been given. All the results obtained are generalizations of some recent ones reported in the literature for uncertain neural networks with constant delays or their certain cases.展开更多
Delay-dependent robust stability of cellular neural networks with time-varying discrete and distributed time-varying delays is considered. Based on Lyapunov stability theory and the linear matrix inequality （LMIs） t...Delay-dependent robust stability of cellular neural networks with time-varying discrete and distributed time-varying delays is considered. Based on Lyapunov stability theory and the linear matrix inequality （LMIs） technique, delay-dependent stability criteria are derived in terms of LMIs avoiding bounding certain cross terms, which often leads to conservatism. The effectiveness of the proposed stability criteria and the improvement over the existing results are illustrated in the numerical examples.展开更多
The problem of global robust asymptotical stability for a class of Takagi-Sugeno fuzzy neural networks（TSFNN） with discontinuous activation functions and time delays is investigated by using Lyapunov stability theor...The problem of global robust asymptotical stability for a class of Takagi-Sugeno fuzzy neural networks（TSFNN） with discontinuous activation functions and time delays is investigated by using Lyapunov stability theory.Based on linear matrix inequalities（LMIs）,we originally propose robust fuzzy control to guarantee the global robust asymptotical stability of TSFNNs.Compared with the existing literature,this paper removes the assumptions on the neuron activations such as Lipschitz conditions,bounded,monotonic increasing property or the right-limit value is bigger than the left one at the discontinuous point.Thus,the results are more general and wider.Finally,two numerical examples are given to show the effectiveness of the proposed stability results.展开更多
Several novel stability conditions for BAM neural networks with time-varying delays are studied.Based on Lyapunov-Krasovskii functional combined with linear matrix inequality approach,the delay-dependent linear matrix...Several novel stability conditions for BAM neural networks with time-varying delays are studied.Based on Lyapunov-Krasovskii functional combined with linear matrix inequality approach,the delay-dependent linear matrix inequality（LMI） conditions are established to guarantee robust asymptotic stability for given delayed BAM neural networks.These criteria can be easily verified by utilizing the recently developed algorithms for solving LMIs.A numerical example is provided to demonstrate the effectiveness and less conservatism of the main results.展开更多
基金funded by the Key Research and Development Program of Zhejiang Province No.2023C01141the Science and Technology Innovation Community Project of the Yangtze River Delta No.23002410100suported by the Open Research Fund of the State Key Laboratory of Blockchain and Data Security,Zhejiang University.
文摘Graph Neural Networks(GNNs)have demonstrated outstanding capabilities in processing graph-structured data and are increasingly being integrated into large-scale pre-trained models,such as Large Language Models(LLMs),to enhance structural reasoning,knowledge retrieval,and memory management.The expansion of their application scope imposes higher requirements on the robustness of GNNs.However,as GNNs are applied to more dynamic and heterogeneous environments,they become increasingly vulnerable to real-world perturbations.In particular,graph data frequently encounters joint adversarial perturbations that simultaneously affect both structures and features,which are significantly more challenging than isolated attacks.These disruptions,caused by incomplete data,malicious attacks,or inherent noise,pose substantial threats to the stable and reliable performance of traditional GNN models.To address this issue,this study proposes the Dual-Shield Graph Neural Network(DSGNN),a defense model that simultaneously mitigates structural and feature perturbations.DSGNN utilizes two parallel GNN channels to independently process structural noise and feature noise,and introduces an adaptive fusion mechanism that integrates information from both pathways to generate robust node representations.Theoretical analysis demonstrates that DSGNN achieves a tighter robustness boundary under joint perturbations compared to conventional single-channel methods.Experimental evaluations across Cora,CiteSeer,and Industry datasets show that DSGNN achieves the highest average classification accuracy under various adversarial settings,reaching 81.24%,71.94%,and 81.66%,respectively,outperforming GNNGuard,GCN-Jaccard,GCN-SVD,RGCN,and NoisyGNN.These results underscore the importance of multi-view perturbation decoupling in constructing resilient GNN models for real-world applications.
基金supported by the National Natural Science Foundation of China(Grant Nos.12474453,12174085,and 12404530).
文摘Physics-informed neural networks(PINNs)have shown considerable promise for performing numerical simulations in fluid mechanics.They provide mesh-free,end-to-end approaches by embedding physical laws into their loss functions.However,when addressing complex flow problems,PINNs still face some challenges such as activation saturation and vanishing gradients in deep network training,leading to slow convergence and insufficient prediction accuracy.We present physics-informed neural networks incorporating lattice Boltzmann method optimized by tanh robust weight initialization(T-PINN-LBM)to address these challenges.This approach fuses the mesoscopic lattice Boltzmann model with the automatic differentiation framework of PINNs.It also implements a tanh robust weight initialization method derived from fixed point analysis.This model effectively mitigates activation and gradient decay in deep networks,improving convergence speed and data efficiency in multiscale flow simulations.We validate the effectiveness of the model on the classical arithmetic example of lid-driven cavity flow.Compared to the traditional Xavier initialized PINN and PINN-LBM,T-PINNLBM reduces the mean absolute error(MAE)by one order of magnitude at the same network depth and maintains stable convergence in deeper networks.The results demonstrate that this model can accurately capture complex flow structures without prior data,providing a new feasible pathway for data-free driven fluid simulation.
基金This work wasfinancially supported bythe National Natural Science Foundation of China (Gsant No10572094)the Special Research Fundfor the Doctoral Programof Higher Education (Grant No20050248037)
文摘A robust neural network controller （NNC） is presented for tracking control of underwater vehicles with uncertainties. The controller is obtained by using backstepping technique and Lyapunov function design in combination with neural network identification. Modeling errors and environmental disturbances are considered in the mathematical model. A twolayer neural network is introduced to compensate the modeling errors, while H∞ control strategy is used to achieve the L2-gain performance. The uniformly ultimately bounded （UUB） stabilities of tracking errors and NN weights are guaran- teed through the proposed controller. An on-line NN weights tuning algorithm is also propesed. Good performances of the tracking control system are illustrated bv the results of numerical simulations.
基金supported by 973 Programs (No.2008CB317110)the Key Project of Chinese Ministry of Education (No.107098)+1 种基金Sichuan Province Project for Applied Basic Research (No.2008JY0052)the Project for Academic Leader and Group of UESTC
文摘In this paper, the global exponential robust stability of neural networks with ume-varying delays is investigated. By using nonnegative matrix theory and the Halanay inequality, a new sufficient condition for global exponential robust stability is presented. It is shown that the obtained result is different from or improves some existing ones reported in the literatures. Finally, some numerical examples and a simulation are given to show the effectiveness of the obtained result.
基金Natural Science Foundation of Henan Education Department (No.2007120005).
文摘In this paper,the global robust exponential stability is considered for a class of neural networks with parametric uncer- tainties and time-varying delay.By using Lyapunov functional method,and by resorting to the new technique for estimating the upper bound of the derivative of the Lyapunov functional,some less conservative exponential stability criteria are derived in terms of linear matrix inequalities (LMIs).Numerical examples are presented to show the effectiveness of the proposed method.
基金This project was supported by the National Natural Science Foundation of China (60572038)
文摘In practical multi-sensor information fusion systems, there exists uncertainty about the network structure, active state of sensors, and information itself （including fuzziness, randomness, incompleteness as well as roughness, etc）. Hence it requires investigating the problem of uncertain information fusion. Robust learning algorithm which adapts to complex environment and the fuzzy inference algorithm which disposes fuzzy information are explored to solve the problem. Based on the fusion technology of neural networks and fuzzy inference algorithm, a multi-sensor uncertain information fusion system is modeled. Also RANFIS learning algorithm and fusing weight synthesized inference algorithm are developed from the ANFIS algorithm according to the concept of robust neural networks. This fusion system mainly consists of RANFIS confidence estimator, fusing weight synthesized inference knowledge base and weighted fusion section. The simulation result demonstrates that the proposed fusion model and algorithm have the capability of uncertain information fusion, thus is obviously advantageous compared with the conventional Kalman weighted fusion algorithm.
基金This work is supported by the National Natural Science Foundation of China (No.60674026)the Key Research Foundation of Science and Technology of the Ministry of Education of China (No.107058).
文摘This paper deals with the problem of delay-dependent robust stability for a class of switched Hopfield neural networks with time-varying structured uncertainties and time-varying delay. Some Lyapunov-KrasoVskii functionals are constructed and the linear matrix inequality （LMI） approach and free weighting matrix method are employed to devise some delay-dependent stability criteria which guarantee the existence, uniqueness and global exponential stability of the equilibrium point for all admissible parametric uncertainties. By using Leibniz-Newton formula, free weighting matrices are employed to express this relationship, which implies that the new criteria are less conservative than existing ones. Some examples suggest that the proposed criteria are effective and are an improvement over previous ones.
基金supported in part by the National Natural Science Foundation of China(61433004,61703289)
文摘For a single machine infinite power system with thyristor controlled series compensation(TCSC) device, which is affected by system model uncertainties, nonlinear time-delays and external unknown disturbances, we present a robust adaptive backstepping control scheme based on the radial basis function neural network(RBFNN). The RBFNN is introduced to approximate the complex nonlinear function involving uncertainties and external unknown disturbances, and meanwhile a new robust term is constructed to further estimate the system residual error,which removes the requirement of knowing the upper bound of the disturbances and uncertainty terms. The stability analysis of the power system is presented based on the Lyapunov function,which can guarantee the uniform ultimate boundedness(UUB) of all parameters and states of the whole closed-loop system. A comparison is made between the RBFNN-based robust adaptive control and the general backstepping control in the simulation part to verify the effectiveness of the proposed control scheme.
基金supported by the National Natural Science Foundation of China(62173352,62103112)the Guangdong Basic and Applied Basic Research Foundation(2021A1515012314)+1 种基金the Open Project of Shenzhen Institute of Artificial Intelligence and Robotics for Society(AC01202005006)the Key-Area Research and Development Program of Guangzhou(202007030004)。
文摘Taking advantage of their inherent dexterity,robotic arms are competent in completing many tasks efficiently.As a result of the modeling complexity and kinematic uncertainty of robotic arms,model-free control paradigm has been proposed and investigated extensively.However,robust model-free control of robotic arms in the presence of noise interference remains a problem worth studying.In this paper,we first propose a new kind of zeroing neural network(ZNN),i.e.,integration-enhanced noise-tolerant ZNN(IENT-ZNN)with integration-enhanced noisetolerant capability.Then,a unified dual IENT-ZNN scheme based on the proposed IENT-ZNN is presented for the kinematic control problem of both rigid-link and continuum robotic arms,which improves the performance of robotic arms with the disturbance of noise,without knowing the structural parameters of the robotic arms.The finite-time convergence and robustness of the proposed control scheme are proven by theoretical analysis.Finally,simulation studies and experimental demonstrations verify that the proposed control scheme is feasible in the kinematic control of different robotic arms and can achieve better results in terms of accuracy and robustness.
文摘This paper proposed a robust adaptive neural network control for an XY table. The XY table composes of two AC servo drives controlled independently. The neural network with radial basis function is employed for velocity and position tracking control of AC servo drives to improve the system’s dynamic performance and precision. A robust adaptive term is applied to overcome the external disturbances. The stability and the convergence of the system are proved by Lyapunov theory. The proposed controller is implemented in a DSP-based motion board. The validity and robustness of the controller are verified through experimental results.
基金Project supported by the National Natural Science Foundation of China (Grant No 60674026)the Key Project of Chinese Ministryof Education (Grant No 107058)+1 种基金the Jiangsu Provincial Natural Science Foundation of China (Grant No BK2007016)the Jiangsu Provincial Program for Postgraduate Scientific Innovative Research of Jiangnan University (Grant No CX07B 116z)
文摘In this paper, we focus on the robust adaptive synchronization between two coupled chaotic neural networks with all the parameters unknown and time-varying delay. In order to increase the robustness of the two coupled neural networks, the key idea is that a sliding-mode-type controller is employed. Moreover, without the estimate values of the network unknown parameters taken as an updating object, a new updating object is introduced in the constructing of controller. Using the proposed controller, without any requirements for the boundedness, monotonicity and differentiability of activation functions, and symmetry of connections, the two coupled chaotic neural networks can achieve global robust synchronization no matter what their initial states are. Finally, the numerical simulation validates the effectiveness and feasibility of the proposed technique.
基金the National Natural Science Foundation of China (No. 60504024)the Research Project of Zhejiang Provin-cial Education Department (No. 20050905), China
文摘The robust exponential stability of a larger class of discrete-time recurrent neural networks (RNNs) is explored in this paper. A novel neural network model, named standard neural network model (SNNM), is introduced to provide a general framework for stability analysis of RNNs. Most of the existing RNNs can be transformed into SNNMs to be analyzed in a unified way. Applying Lyapunov stability theory method and S-Procedure technique, two useful criteria of robust exponential stability for the discrete-time SNNMs are derived. The conditions presented are formulated as linear matrix inequalities (LMIs) to be easily solved using existing efficient convex optimization techniques. An example is presented to demonstrate the transformation procedure and the effectiveness of the results.
文摘We consider qualitatively robust predictive mappings of stochastic environmental models, where protection against outlier data is incorporated. We utilize digital representations of the models and deploy stochastic binary neural networks that are pre-trained to produce such mappings. The pre-training is implemented by a back propagating supervised learning algorithm which converges almost surely to the probabilities induced by the environment, under general ergodicity conditions.
基金supported by the National Natural Science Foundation of China(Grant Nos.62175050 and U2341245)the Fundamental Research Funds for the Central Universities(Grant No.HIT.OCEF.2024054).
文摘Diffractive optical neural networks(DONNs)have exhibited the advantages of parallelization,high speed,and low consumption.However,the existing DONNs based on free-space diffractive optical elements are bulky and unsteady.In this study,we propose a planar-waveguide integrated diffractive neural network chip architecture.The three diffractive layers are engraved on the same side of a quartz wafer.The three-layer chip is designed with 32-mm3 processing space and enables a computing speed of 3.1×109 Tera operations per second.The results show that the proposed chip achieves 73.4%experimental accuracy for the Modified National Institute of Standards and Technology database while showing the system’s robustness in a cycle test.The consistency of experiments is 88.6%,and the arithmetic mean standard deviation of the results is~4.7%.The proposed chip architecture can potentially revolutionize high-resolution optical processing tasks with high robustness.
基金supported by the National Nature Science Foundation of China(U21A20166)the Science and Technology Development Foundation of Jilin Province(20230508095RC)+2 种基金the Major Science and Technology Projects of Jilin Province and Changchun City(20220301033GX)the Development and Reform Commission Foundation of Jilin Province(2023C034-3)the Interdisciplinary Integration and Innovation Project of JLU(JLUXKJC2020202).
文摘Dear Editor,Aiming at the consensus tracking problem of a class of unknown heterogeneous nonlinear multiagent systems(MASs)with input constraints,a novel data-driven iterative learning consensus control(ILCC)protocol based on zeroing neural networks(ZNNs)is proposed.First,a dynamic linearization data model(DLDM)is acquired via dynamic linearization technology(DLT).
文摘The robust stability of uncertain neural network with time-varying delay was investigated.The norm-bounded uncertainties are included in the system matrices.The constraint on time-varying delays is removed,which means that a fast time-varying delay is admissible.Some new delay-dependent stability criteria were presented by using Lyapunov-Krasovskii functional and linear matrix inequalities(LMIs) approaches.Finally,a numerical example was given to illustrate the effectiveness and innovation nature of the developed techniques.
基金This project was supported by the National Natural Science Foundation of China (60074008, 60274007, 60274026) National Doctor foundaction of China (20010487005).
文摘A type of stochastic interval delayed Hopfield neural networks as du(t) = [-AIu(t) + WIf(t,u(t)) + WIτf7τ(uτ(t)] dt +σ(t, u(t), uτ(t)) dw(t) on t≥0 with initiated value u(s) = ζ(s) on - τ≤s≤0 has been studied. By using the Razumikhin theorem and Lyapunov functions, some sufficient conditions of their globally asymptotic robust stability and global exponential stability on such systems have been given. All the results obtained are generalizations of some recent ones reported in the literature for uncertain neural networks with constant delays or their certain cases.
文摘Delay-dependent robust stability of cellular neural networks with time-varying discrete and distributed time-varying delays is considered. Based on Lyapunov stability theory and the linear matrix inequality （LMIs） technique, delay-dependent stability criteria are derived in terms of LMIs avoiding bounding certain cross terms, which often leads to conservatism. The effectiveness of the proposed stability criteria and the improvement over the existing results are illustrated in the numerical examples.
基金supported by the National Natural Science Foundation of China(6077504760835004)+2 种基金the National High Technology Research and Development Program of China(863 Program)(2007AA04Z244 2008AA04Z214)the Graduate Innovation Fundation of Hunan Province(CX2010B132)
文摘The problem of global robust asymptotical stability for a class of Takagi-Sugeno fuzzy neural networks（TSFNN） with discontinuous activation functions and time delays is investigated by using Lyapunov stability theory.Based on linear matrix inequalities（LMIs）,we originally propose robust fuzzy control to guarantee the global robust asymptotical stability of TSFNNs.Compared with the existing literature,this paper removes the assumptions on the neuron activations such as Lipschitz conditions,bounded,monotonic increasing property or the right-limit value is bigger than the left one at the discontinuous point.Thus,the results are more general and wider.Finally,two numerical examples are given to show the effectiveness of the proposed stability results.
基金Supported by the National Natural Science Foundation of China (6067402760875039)+1 种基金Specialized Research Fund for the Doctoral Program of Higher Education (20050446001)Scientific Research Foundation of Qufu Normal University
文摘Several novel stability conditions for BAM neural networks with time-varying delays are studied.Based on Lyapunov-Krasovskii functional combined with linear matrix inequality approach,the delay-dependent linear matrix inequality（LMI） conditions are established to guarantee robust asymptotic stability for given delayed BAM neural networks.These criteria can be easily verified by utilizing the recently developed algorithms for solving LMIs.A numerical example is provided to demonstrate the effectiveness and less conservatism of the main results.
