Yun Zhang

GuangDong University of Technology, Shengcheng, Guangdong, China

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Publications (48)45.82 Total impact

  • [Show abstract] [Hide abstract]
    ABSTRACT: Hand tremors may cause some blemishes in precision and stability of a minimally invasive surgery (MIS). To track the tremor signals accurately, there are two main problems left to be settled. First, it is not practical to collect the sample data of tremor in large scale in practical applications. To deal with the hand tremors, a learning method based on small samples sizes and high dimensional input space is needed. Second, the hand tremors have time-varying characteristics. This fact is neglected by traditional learning methods, which could lead to imprecision and instability of a MIS. In this work, a time-sequence-based fuzzy support vector machine adaptive filter (TSF-SVMAF) for tremor cancelling is proposed. The proposed method is based on support vector machine and time series. It is suitable for solving the problem that the inputs are time-varying and the samples are small-scale. To cancel the time-varying hand tremors, different learning-weight-functions are designed for tremor signals with different frequencies. From the simulation results, compared with the existing methods such as back propagation (BP), weighted-frequency Fourier combiner (WFLC) and bandlimited multiple Fourier linear combiner (BMFLC), the proposed method has better performance when learning the time-varying hand tremors with small sample sizes.
    International Journal of Systems Science 04/2015; 46(6). · 1.31 Impact Factor
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    ABSTRACT: This paper investigates the fusion of unknown direction hysteresis model with adaptive neural control techniques in face of time-delayed continuous time nonlinear systems without strict-feedback form. Compared with previous works on the hysteresis phenomenon, the direction of the modified Bouc-Wen hysteresis model investigated in the literature is unknown. To reduce the computation burden in adaptation mechanism, an optimized adaptation method is successfully applied to the control design. Based on the Lyapunov-Krasovskii method, two neural-network-based adaptive control algorithms are constructed to guarantee that all the system states and adaptive parameters remain bounded, and the tracking error converges to an adjustable neighborhood of the origin. In final, some numerical examples are provided to validate the effectiveness of the proposed control methods.
    IEEE transactions on neural networks and learning systems 12/2014; 25(12):2129-40. · 4.37 Impact Factor
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    ABSTRACT: In this paper, a coordinated fuzzy control is developed for robotic arms with actuator hysteresis and motion constraint. To accurately compensate the hysteresis phenomena from the electromechanical devices, the modeling of actuator hysteresis is first integrated into the dynamics of multiple arms system. Then, the adaptive control scheme is introduced to reduce the harmful effects from unknown nonlinearities. Subsequently, the issue of the motion constraint is taken into account to facilitate the application in the condition of potential collisions. Furthermore, the stability analysis is carried out to guarantees the motion and internal forces in the robotic arms converge to the desired values. Simultaneously, the predetermined motion boundary is ensured to be never violated. Finally, comparative results are presented to illustrate the proposed scheme’s effectiveness.
    Information Sciences. 11/2014;
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    ABSTRACT: This paper focuses on an input-to-state practical stability (ISpS) problem of nonlinear systems which possess unmodeled dynamics in the presence of unstructured uncertainties and dynamic disturbances. The dynamic disturbances depend on the states and the measured output of the system, and its assumption conditions are relaxed compared with the common restrictions. Based on an input-driven filter, fuzzy logic systems are directly used to approximate the unknown and desired control signals instead of the unknown nonlinear functions, and an integrated backstepping technique is used to design an adaptive output-feedback controller that ensures robustness with respect to unknown parameters and uncertain nonlinearities. This paper, by applying the ISpS theory and the generalized small-gain approach, shows that the proposed adaptive fuzzy controller guarantees the closed-loop system being semi-globally uniformly ultimately bounded. A main advantage of the proposed controller is that it contains only three adaptive parameters that need to be updated online, no matter how many states there are in the systems. Finally, the effectiveness of the proposed approach is illustrated by two simulation examples.
    IEEE transactions on cybernetics. 10/2014; 44(10):1714-1725.
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    ABSTRACT: A three-domain fuzzy wavelet network filter (3DFWNF) is proposed to filter the physiological tremor in robotic assisted microsurgical procedures, which bases on the three-domain fuzzy wavelet neural network (3DFWN) for estimating the modulated signals with multiple frequency components. The fuzzy domain is added in the 3DFWN to handle the fuzzy uncertainties of the tremor signals. The adaptive parameters of the network are adjusted by using a novel particle swarm optimization (PSO) algorithm in the training process, namely fuzzy PSO (FPSO). FPSO adopts fuzzy sets described by Gaussian membership function to define the position and velocity of particles, thus all arithmetic operators in the position and velocity updating rules used in the original PSO are replaced by the operators and procedures defined on fuzzy sets. Without the necessity for gradients, the FPSO coordinates the exploration and exploitation capabilities of particles, ensures quick convergence and a preferable global search. The proposed filter is compared with the existing RBF neural network and fuzzy wavelet neural networks. Experiments are carried in different situations, experimental results show superiority on tremor suppression of the newly filter. The effectiveness and accuracy of the FPSO algorithm are also verified.
    Knowledge-Based Systems 08/2014; · 4.10 Impact Factor
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    ABSTRACT: In this paper, a robust adaptive fuzzy control approach is proposed for a class of nonlinear systems in strict-feedback form with the unknown time-varying saturation input. To deal with the time-varying saturation problem, a novel controller separation approach is proposed in the literature to separate the desired control signal from the practical constrained control input. Furthermore, an optimized adaptation method is applied to the dynamic surface control design to reduce the number of adaptive parameters. By utilizing the Lyapunov synthesis, the fuzzy logic system technique and the Nussbaum function technique, an adaptive fuzzy control algorithm is constructed to guarantee that all the signals in the closed-loop control system remain semiglobally uniformly ultimately bounded, and the tracking error is driven to an adjustable neighborhood of the origin. Finally, some numerical examples are provided to validate the effectiveness of the proposed control scheme in the literature.
    Asian Journal of Control 08/2014; · 1.41 Impact Factor
  • Zhi Liu, Ci Chen, Yun Zhang, C L P Chen
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    ABSTRACT: To achieve an excellent dual-arm coordination of the humanoid robot, it is essential to deal with the nonlinearities existing in the system dynamics. The literatures so far on the humanoid robot control have a common assumption that the problem of output hysteresis could be ignored. However, in the practical applications, the output hysteresis is widely spread; and its existing limits the motion/force performances of the robotic system. In this paper, an adaptive neural control scheme, which takes the unknown output hysteresis and computational efficiency into account, is presented and investigated. In the controller design, the prior knowledge of system dynamics is assumed to be unknown. The motion error is guaranteed to converge to a small neighborhood of the origin by Lyapunov's stability theory. Simultaneously, the internal force is kept bounded and its error can be made arbitrarily small.
    IEEE transactions on cybernetics. 06/2014;
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    ABSTRACT: An interval type-2 fuzzy weighted support vector machine (IT2FW-SVM) is proposed to address the problem of high energy consumption for biped walking robots. Different from the traditional machine learning method of ‘copy learning’, the proposed IT2FW-SVM obtains lower energy cost and larger zero moment point (ZMP) stability margin using a novel strategy of ‘selective learning’, which is similar to human selections based on experience. To handle the uncertainty of the experience, the learning weights in the IT2FW-SVM are deduced using an interval type-2 fuzzy logic system (IT2FLS), which is an extension of the previous weighted SVM. Simulation studies show that the existing biped walking which generates the original walking samples is improved remarkably in terms of both energy efficiency and biped dynamic balance using the proposed IT2FW-SVM.
    Applied Intelligence 04/2014; 40(3). · 1.85 Impact Factor
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    ABSTRACT: This paper proposed an Interval Type-2 Fuzzy Kernel based Support Vector Machine (IT2FK-SVM) for scene classification of humanoid robot. Type-2 fuzzy sets have been shown to be a more promising method to manifest the uncertainties. Kernel design is a key component for many kernel-based methods. By integrating the kernel design with type-2 fuzzy sets, a systematic design methodology of IT2FK-SVM classification for scene images is presented to improve robustness and selectivity in the humanoid robot vision, which involves feature extraction, dimensionality reduction and classifier learning. Firstly, scene images are represented as high dimensional vector extracted from intensity, edge and orientation feature maps by biological-vision feature extraction method. Furthermore, a novel three-domain Fuzzy Kernel-based Principal Component Analysis (3DFK-PCA) method is proposed to select the prominent variables from the high-dimensional scene image representation. Finally, an IT2FM SVM classifier is developed for the comprehensive learning of scene images in complex environment. Different noisy, different view angle, and variations in lighting condition can be taken as the uncertainties in scene images. Compare to the traditional SVM classifier with RBF kernel, MLP kernel, and the Weighted Kernel (WK), respectively, the proposed method performs much better than conventional WK method due to its integration of IT2FK, and WK method performs better than the single kernel methods (SVM classifier with RBF kernel or MLP kernel). IT2FK-SVM is able to deal with uncertainties when scene images are corrupted by various noises and captured by different view angles. The proposed IT2FK-SVM method yields over $92~\% $ 92 % classification rates for all cases. Moreover, it even achieves $98~\% $ 98 % classification rate on the newly built dataset with common light case.
    Soft Computing 03/2014; · 1.30 Impact Factor
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    ABSTRACT: This paper presents a multiple-feature and multiple-kernel support vector machine (MFMK-SVM) methodology to achieve a more reliable and robust segmentation performance for humanoid robot. The pixel wise intensity, gradient, and C1 SMF features are extracted via the local homogeneity model and Gabor filter, which would be used as inputs of MFMK-SVM model. It may provide multiple features of the samples for easier implementation and efficient computation of MFMK-SVM model. A new clustering method, which is called feature validity-interval type-2 fuzzy C-means (FV-IT2FCM) clustering algorithm, is proposed by integrating a type-2 fuzzy criterion in the clustering optimization process to improve the robustness and reliability of clustering results by the iterative optimization. Furthermore, the clustering validity is employed to select the training samples for the learning of the MFMK-SVM model. The MFMK-SVM scene segmentation method is able to fully take advantage of the multiple features of scene image and the ability of multiple kernels. Experiments on the BSDS dataset and real natural scene images demonstrate the superior performance of our proposed method.
    IEEE transactions on cybernetics. 01/2014;
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    ABSTRACT: A novel three-domain fuzzy support vector regression (3DFSVR) is proposed, where the three-domain fuzzy kernel function (3DFKF) provides a solution to process uncertainties and input--output data information simultaneously. When compared with traditional two-domain SVR (2DSVR), the major advantage of 3DFSVR is able to use the prior knowledge via the novel fuzzy domain to analyze uncertain data and signals, which will enhance the potentials of 2DSVR. The 3DFKF is presented to integrate the kernel and fuzzy membership functions into a three-domain function. Definition and solution of the fuzzy convex optimization problem are presented to construct the whole theoretical framework. Experiments and simulation results show the effectiveness of 3DFSVR for the uncertain image denoising.
    IEEE transactions on cybernetics. 05/2013;
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    ABSTRACT: An energy-efficient support vector machine (EE-SVM) learning control system considering the energy cost of each training sample of biped dynamic is proposed to realize energy-efficient biped walking. Energy costs of the biped walking samples are calculated. Then the samples are weighed with the inverses of the energy costs. An EE-SVM objective function with energy-related slack variables is proposed, which follows the principle that the sample with the lowest energy consumption is treated as the most important one in the training. That means the samples with lower energy consumption contribute more to the EE-SVM regression function learning, which highly increases the energy efficiency of the biped walking. Simulation results demonstrate the effectiveness of the proposed method.
    IEEE transactions on neural networks and learning systems 05/2013; 24(5):831-837. · 4.37 Impact Factor
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    ABSTRACT: One of the amazing abilities of fuzzy logic systems or neural networks is their ability to approximate unknown certainties. When nonlinear systems possess multiple variables, however, the process of the adaptive fuzzy or neural network online control becomes difficult. In this paper, we will introduce the extended partition of unity (EPU), composed of scalars and saturators, to address this problem. The merit of the suggested design scheme is that the construction of the partition of unity and the design of adaptive laws are separate. This means the proposed design method only adjusts the outputs of EPU and one update law, even in nonlinear systems with multiple variables. Therefore, this new method of EPU leads to easier selection of basis functions, reduces the number of adaptive laws, has greater robustness, and is suitable for different kinds of universal approximators. Finally, a numerical example is given to illustrate the effectiveness of the approach.
    Asian Journal of Control 05/2013; 15(3). · 1.41 Impact Factor
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    ABSTRACT: The synchronization for a class of complex dynamical network with similar nodes and coupling time-delay is investigated. The dimensions of the dynamical nodes in the complex network are different. Moreover, the coupling time-delays of the dynamical nodes are also different, and the decentralized control strategies are designed in term of the information of the similar parameters in dynamical complex networks by using the method of linear matrix inequality. The definition of the synchronization manifold is constructed, and the time delay independent criterion of the synchronization of the complex dynamical networks is derived. Finally, a numerical example is presented to demonstrate the application of the theoretical results.
    Applied Mathematics and Computation 02/2013; 219(12):6719–6728. · 1.35 Impact Factor
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    ABSTRACT: To learn biped walking dynamics accurately, and then compensate time-varying external disturbances timely, a time-sequence-based fuzzy SVM (TSF-SVM) learning control system considering time properties of biped walking samples is proposed. For the first time, time-sequence-based triangular and Gaussian fuzzy membership functions have been proposed for the single support phase (SSP) and the double support phase (DSP), respectively, according to time properties of different biped phases, which provides an effective way to formulate time properties of biped walking samples in the context of time-varying external disturbances. In addition, a time-sequence-based moving learning window (TS-MLW) is proposed for online training of the proposed TSF-SVM. The performance of the proposed TSF-SVM is compared with other typical intelligent methods; simulation results demonstrate that the proposed method is more sensitive to occasional external disturbances, which increases the stability margin and prevents the robot from falling down.
    Engineering Applications of Artificial Intelligence 02/2013; 26(2):757–765. · 1.96 Impact Factor
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    ABSTRACT: Traditional wavelet system is a two-domain (time and frequency domains) wavelet system (2DWS), which works only in time and frequency domains. The 2DWS is not able to treat time-frequency information and fuzziness simultaneously. For this reason, a three-domain (fuzzy, time, and frequency domains) fuzzy wavelet system (3DFWS) is proposed, where the three-domain mechanism provides a solution to handle fuzzy uncertainties and time-frequency information together. The major advantage of 3DFWS is able to use the prior knowledge via the novel fuzzy domain to analyze uncertain data and signals, which will enhance the potentials of 2DWS. Experimental and simulation studies show that the performance of the proposed 3DFWS is superior to the traditional one for simultaneous processing of time-frequency and fuzziness.
    IEEE Transactions on Fuzzy Systems 01/2013; 21(1):176-183. · 5.48 Impact Factor
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    ABSTRACT: For a class of chaotic systems with unknown functions and disturbances, a synchronization controller based on the adaptive fuzzy logic systems is proposed in this paper. Firstly, based on the universal approximation property of fuzzy logic systems, the Mamdani type fuzzy logic system with the parameter adaptive laws is designed by utilizing the data information sampled from the inputs and outputs of unknown functions in the chaotic systems. Then this fuzzy logic system is employed to synthesize the drive-response synchronization controller with parameter adaptive laws. Finally, the simulation shows the effectiveness of the proposed method.
    Kongzhi yu Juece/Control and Decision 01/2013; 28(9).
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    ABSTRACT: An unscented Kalman filter (UKF)-based predictable support vector regression (SVR) learning controller is proposed to improve the flexibility of biped walking robots. After estimating the biped states of the next moment using a UKF, an SVR learning controller with the predicted biped states is implemented to ensure the zero moment point (ZMP) stability. Using the predicted biped states, the SVR learning controller can predictably adjust the posture of the trunk timely and properly to adapt to the dynamic posture of the whole body. The flexibility of biped robots is enhanced by the proposed method, which is promising for realizing the stable biped walking in unstructured environments. Simulation and experimental results demonstrate the superiority of the proposed methods.
    Systems, Man, and Cybernetics: Systems, IEEE Transactions on. 01/2013; 43(6):1440-1450.
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    ABSTRACT: This paper investigates the synchronisation of nonlinear coupled complex dynamical networks with different nonlinear nodes and different orders by using decentralised dynamical compensation controllers. We propose a dynamical network mathematical model with similar nonlinear nodes, whose dimensions are different. For this kind of network model, the decentralised dynamical compensation controllers are designed for the state synchronisation of the coupled nodes. In addition, the synchronisation manifold is defined as an invariant manifold, which is regarded as the generalised case of dynamical networks with the same nodes’ dynamics. Furthermore, some stability criteria for the synchronisation are derived by means of rigorous theoretical analysis. Finally, numerical examples are presented to verify the effectiveness of the obtained theoretical results.
    International Journal of Control 01/2013; 86(10). · 1.01 Impact Factor
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    ABSTRACT: A type-2 hierarchical fuzzy system (T2HFS) is presented for the high-dimensional data-based modeling with uncertainties. Type-2 fuzzy logic system (T2FLS) is a powerful tool to handle uncertainties in complex processes. However, the operation of type-reduction has greatly increased the computational burden of T2FLSs. By integrating the T2FLS with hierarchical structure, a systematic design methodology of T2HFS is proposed to avoid the rule explosion and to simplify the computation complexity. The design methodology has included several procedures to establish the T2HFS. Firstly, the PCA-based method is developed to capture the prominent component from training data, and to determine the hierarchical structure of T2HFS. Furthermore, a novel clustering method is proposed to design the basic type-2 fuzzy logic unit (T2FLU) in uncertain environments. Finally, a hybrid-learning method is presented to fine-tune the parameters for the global optimization where the statistical and deterministic optimization methods are developed for the nominal and auxiliary performance, respectively. Simulation results have shown that the proposed T2HFS is very effective for the high-dimensional data-based modeling and control in uncertain environment.
    Soft Computing 11/2012; 16(11). · 1.30 Impact Factor