检索结果-内蒙古大学图书馆

Extended-state-observer-based distributed model predictive formation control of under-actuated unmanned surface vehicles with collision avoidance

引用

OCEAN ENGINEERING 2021年 238卷 109587-109587页

作者： Lv, Guanghao Peng, Zhouhua Wang, Haoliang Liu, Lu Wang, Dan Li, Tieshan Dalian Maritime Univ Sch Marine Elect Engn Dalian 116026 Peoples R China Univ Elect Sci & Technol China Sch Automat Engn Chengdu 611731 Peoples R China Dalian Maritime Univ Nav Coll Dalian 116026 Peoples R China

In this paper, distributed formation tracking control with collision avoidance is addressed for a group of under-actuated unmanned surface vehicles subject to physical constraints and dynamical uncertainties. An extended-state-observer-based distributed model predictive control method is proposed for achieving a safe formation. Specifically, the vehicle dynamics is firstly transformed into an almost spherical form consisting of a position motion subsystem and an angular motion subsystem. Next, an extended state observer is used to estimate unknown model uncertainties and external disturbances in each subsystem. After that, by taking physical constraints and collision avoidance requirements into account, a distributed model predictive position tracking controller and a model predictive angular motion controller are designed based on the recovered model information through the extended state observers. The distributed formation control with collision avoidance problem is formulated as a constrained quadratic programming problem, which can be locally solved in a decentralized manner. Finally, the simulation results of five under-actuated unmanned surface vehicles substantiate the effectiveness of the proposed extended-state-observer-based distributed model predictive control method for multiple under-actuated unmanned surface vehicles.

关键词： Unmanned surface vehicles Extended state observer Model predictive control quadratic programming Collision avoidance

来源：评论

学校读者我要写书评

暂无评论

A variational event-driven approach for the dynamic analysis of multi-block historical masonry structures under ground excitation

引用

ENGINEERING STRUCTURES 2024年 306卷

作者： Nodargi, Nicola A. Bissegna, Paolo Tor Vergata Univ Rome Dept Civil Engn & Comp Sci Engn Rome Italy

A variational event-driven approach is proposed to predict the dynamic response of historical masonry structures modeled as 2D systems of rigid blocks subjected to ground excitation. A unilateral contact, nosliding behavior is assumed at the rigid interfaces between the blocks. Starting from a unitary impulse-theorem format of the equations of motion, involving suitable impulses for the contact reactions between the blocks, two distinct problems are derived for smooth-motion phases and impact instants. The variational structure of both problems is proven, resorting to quadratic programming formulations in the unknown velocities for computations. An event-driven scheme is thus set up, alternating smooth-motion phases with impacts. That conjugates the computational efficiency of the variational formulation with an accurate description of the impact behavior, generalizing the classical Housner impact model. Numerical results are presented to demonstrate the potentialities of the approach, consisting of applications to multi -block masonry arches and to a full-scale structural system formed by several tens of blocks. The dynamic response to a given ground excitation and the failure domain of those structures for a class of ground excitations are explored, showing that the seismic collapse capacity of multi -block masonry structures benefits from their distinctive energy-dissipating rocking motion.

关键词： Masonry Rigid blocks Dynamic analysis Rocking Impact quadratic programming

来源：评论

学校读者我要写书评

暂无评论

Deep neural network accelerated-group African vulture optimization algorithm for unit commitment considering uncertain wind power

引用

APPLIED SOFT COMPUTING 2024年 162卷

作者： Yin, Linfei Ding, Wenyu Guangxi Univ Guangxi Key Lab Power Syst Optimizat & Energy Tech Nanning 530004 Guangxi Peoples R China Hechi Univ Key Laboratcry AI & Informat Proc Educ Dept Guangxi Zhuang Autonomous Reg Hechi 546300 Guangxi Peoples R China

The unit commitment (UC) of power systems serves to plan out the starting and shutdown of units and the power generation of units for a future period of time. However, the UC problem for large-scale systems faces the problems of long solution time and insufficiently accurate solution. Uncertainty in wind power generation poses a great challenge in solving the unit combination problem. This work proposes a deep neural network accelerated-double layer optimization method (DNNA-DOM) to improve the solution efficiency, accuracy, and economy of UC. The outer layer of DNNA-DOM utilizes the proposed deep neural network accelerated-group African vulture optimization algorithm (DNNA-GAVOA) to optimize the on-off condition of conventional coalfired power units. The inner layer of DNNA-DOM adopts quadratic programming to optimize the solution of the economic dispatch problem of load distribution. The GAVOA optimizes the simulated African vultures in four groups to obtain the optimal solution after diverse exploration, exploitation, and exploitation activities, with low complexity and high accuracy. This work first evaluates the performance of GAVOA by solving seven unimodal functions. Furthermore, the 10-unit simulation by incorporating wind power curves and related constraints is optimized through the DNNA-DOM. The results show that GAVOA outperforms the African vulture optimization algorithm (AVOA) and traditional metaheuristics like the particle swarm algorithm and gray wolf algorithm in terms of lower operating cost and optimization stability. The DNNA-DOM combined with DNNA-GAVOA in the outer layer results in an average daily cost reduction of $36.30 and a 45.1997 % speed increase compared to AVOA in the outer layer.

关键词： Double-layer optimization method Group African vulture optimization algorithm Deep neural networks quadratic programming Wind power Unit commitment

来源：评论

学校读者我要写书评

暂无评论

Shrinking Horizon Model Predictive Control Method for Helicopter-Ship Touchdown

引用

JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2020年第5期43卷 884-900页

作者： Greer, William B. Sultan, Cornel Virginia Polytech Inst & State Univ Dept Aerosp & Ocean Engn Blacksburg VA 24060 USA

A model predictive control (MPC) framework with a fixed maneuver horizon and shrinking prediction and control horizons is presented that, at each time step, minimizes the most accurate prediction of a complete cost for a discrete linear system, subject to constraints. Methods of weight selection to ensure strong convexity of the cost, which makes the quadratic programming problem associated with MPC numerically more tractable, are discussed. A continuous-time flexible-blade helicopter dynamic model is discretized, and the resulting model is used to demonstrate this control design method in ship landing and touchdown maneuvers. Inequality constraints, ship-induced turbulence, and parametric uncertainty are gradually included in the design and analysis. Several case studies are used to illustrate the effectiveness of this control method in landings on ships that experience quiescent and nonquiescent motions.

关键词： Helicopter Blade Predictive Control Method quadratic programming Euler Angles Flap Angle Flying Wires Autonomous Underwater Vehicle Helicopter Dynamics Helicopter Controls Blade Pitch

来源：评论

学校读者我要写书评

暂无评论

THE KINEMATIC INVERSION OF ROBOT MANIPULATORS IN THE PRESENCE OF SINGULARITIES

引用

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME 1988年第3期110卷 246-254页

作者： ANGELES, J ANDERSON, K CYRIL, X CHEN, B MCGILL UNIV MCGILL RES CTR INTELLIGENT MACHINESROBOT MECH SYST LABMONTREAL H3A 2T5QUEBECCANADA

Presented in this paper is an algorithm that allows the numerical kinematic inversion of robot manipulators in the presence of singularities. It is aimed at continuous-path applications, in which known algorithms produce branch switching and hence jump discontinuities in the joint rates. In the algorithm proposed here the joint rates are computed at singularities as the solution of a quadratic-programming problem that eliminates branch switching. Joint accelerations are computed likewise, and joint angles by Taylor expansion using up to quadratic terms.

关键词： Kinematics Manipulators Algorithms Bifurcation quadratic programming

来源：评论

学校读者我要写书评

暂无评论

SimPL: An Algorithm for Placing VLSI Circuits

引用

COMMUNICATIONS OF THE ACM 2013年第6期56卷 105-113页

作者： Kim, Myung-Chul Lee, Dong-Jin Markov, Igor L. Univ Michigan Dept EECS Ann Arbor MI 48109 USA

VLSI placement optimizes locations of circuit components so as to reduce interconnect. Formulated in terms of (hyper) graphs, it is NP-hard, and yet must be solved for challenging million-node instances within several hours. We propose an algorithm for large-scale placement that outperforms prior art both in runtime and solution quality on standard benchmarks. The algorithm is more straightforward than existing placers and easier to integrate into timing-closure flows. Our C++ implementation is compact, self-contained and exploits instruction-level and thread-level parallelism. Due to its simplicity and superior performance, the algorithm has been adopted in the industry and was extended by several university groups to multi-objective optimization.

关键词： DESIGN & construction of very large scale integration of circuits POLYNOMIAL time algorithms INTERCONNECTS (Integrated circuit technology) PROGRAM transformation (Computer programming) HYPERGRAPHS COMBINATORIAL optimization quadratic programming

来源：评论

学校读者我要写书评

暂无评论

The ***-x pandemic readiness platform: Rapid prioritization of optimized COVID-19 combination therapy regimens

引用

NPJ DIGITAL MEDICINE 2022年第1期5卷 83页

作者： Blasiak, Agata Truong, Anh T. L. Remus, Alexandria Hooi, Lissa Seah, Shirley Gek Kheng Wang, Peter Chye, De Hoe Lim, Angeline Pei Chiew Ng, Kim Tien Teo, Swee Teng Tan, Yee-Joo Allen, David Michael Chai, Louis Yi Ann Chng, Wee Joo Lin, Raymond T. P. Lye, David C. B. Wong, John Eu-Li Tan, Gek-Yen Gladys Chan, Conrad En Zuo Chow, Edward Kai-Hua Ho, Dean Natl Univ Singapore Inst Digital Med WisDM Yong Loo Lin Sch Med Singapore 117456 Singapore Natl Univ Singapore N 1 Inst Hlth N 1 Singapore 117456 Singapore Natl Univ Singapore Dept Biomed Engn Coll Design & Engn Singapore 117583 Singapore Natl Univ Singapore Yong Loo Lin Sch Med Dept Pharmacol Singapore 117600 Singapore Natl Univ Singapore Canc Sci Inst Singapore Singapore 117599 Singapore DSO Natl Labs Def Med & Environm Res Inst Singapore 117510 Singapore Natl Univ Singapore Yong Loo Lin Sch Med Dept Microbiol & Immunol Infect Dis Translat Res Program Singapore 117545 Singapore ASTAR Inst Mol & Cell Biol IMCB Singapore 138673 Singapore Natl Univ Singapore Yong Loo Lin Sch Med Dept Med Singapore 119228 Singapore Natl Univ Singapore Hosp Div Infect Dis Singapore 119074 Singapore Natl Univ Singapore Hosp Natl Univ Canc Inst Dept Haematol Oncol Singapore 119074 Singapore Natl Univ Singapore Yong Loo Lin Sch Med NUS Ctr Canc Res Singapore 117599 Singapore Natl Ctr Infect Dis NCID Jalan Tan Tock Seng Singapore 308442 Singapore Natl Univ Singapore Hosp Dept Lab Med Singapore 119074 Singapore Nanyang Technol Univ Lee Kong Chian Sch Med Singapore 308232 Singapore Tan Tock Seng Hosp Dept Infect Dis Singapore 308433 Singapore

***-x, a clinically actionable artificial intelligence platform, was used to rapidly pinpoint and prioritize optimal combination therapies against COVID-19 by pairing a prospective, experimental validation of multi-drug efficacy on a SARS-CoV-2 live virus and Vero E6 assay with a quadratic optimization workflow. A starting pool of 12 candidate drugs developed in collaboration with a community of infectious disease clinicians was first narrowed down to a six-drug pool and then interrogated in 50 combination regimens at three dosing levels per drug, representing 729 possible combinations. ***-x revealed EIDD-1931 to be a strong candidate upon which multiple drug combinations can be derived, and pinpointed a number of clinically actionable drug interactions, which were further reconfirmed in SARS-CoV-2 variants B.1.351 (Beta) and B.1.617.2 (Delta). ***-x prioritized promising drug combinations for clinical translation and can be immediately adjusted and re-executed with a new pool of promising therapies in an actionable path towards rapidly optimizing combination therapy following pandemic emergence.

关键词： quadratic programming

来源：评论

学校读者我要写书评

暂无评论

A trajectory tracking method based on robust model predictive control for a bionic ankle-foot aided by a tensegrity mechanism

引用

ENGINEERING OPTIMIZATION 2024年第10期56卷 1660-1682页

作者： Sun, Z. B. Heng, T. T. Zhao, L. M. Liu, S. S. Lian, Y. F. Liu, K. P. Changchun Univ Technol Dept Control Engn Changchun Peoples R China KH Automot Technol Co Ltd Changchun Peoples R China Jilin Engn Normal Univ Sch Elect & Informat Engn Changchun Peoples R China

In this article, a robust model predictive control method is investigated for settling the trajectory tracking problem of a bionic ankle-foot aided by a tensegrity mechanism. In order to achieve adaptive movement of the ankle-foot mechanism, a three-degrees-of-freedom spatial ankle-foot mechanism is designed by tensegrity, which is a spatial grid structure composed of springs and struts. Dynamic analysis is the basis of control algorithm research, and the dynamic model of the mechanism can be established by a Lagrangian equation. Then, a controller is proposed for tracking the trajectory of the ankle-foot mechanism under external disturbances. Combining rolling optimization and feedback correction, the controller can be defined as an optimization problem, by solving which the ankle-foot mechanism can be controlled to track the desired trajectory quickly. Furthermore, stability analysis is an essential part of predictive controller design, which can help to understand the operational mechanism of the control strategy. Numerical results demonstrate that the proposed approach improves trajectory tracking accuracy and avoids mechanism movement problems caused by disturbances.

关键词： Tensegrity bionic ankle-foot mechanism robot dynamics quadratic programming trajectory tracking

来源：评论

学校读者我要写书评

暂无评论

CCS: A software framework to generate two-body potentials using Curvature Constrained Splines

引用

COMPUTER PHYSICS COMMUNICATIONS 2021年 258卷 107602-107602页

作者： Krishna, Akshay A. K. Wadbro, Eddie Koehler, Christof Mitev, Pavlin Broqvist, Peter Kullgren, Jolla Uppsala Univ Dept Chem Angstrom Lab Box 538 S-75121 Uppsala Sweden Umea Univ Dept Comp Sci SE-90187 Umea Sweden Univ Bremen Bremen Ctr Computat Mat Sci Fallturm 1 D-28359 Bremen Germany

We have developed an automated and efficient scheme for the fitting of data using Curvature Constrained Splines (CCS), to construct accurate two-body potentials. The approach enabled the construction of an oscillation-free, yet flexible, potential. We show that the optimization problem is convex and that it can be reduced to a standard quadratic programming (QP) problem. The improvements are demonstrated by the development of a two-body potential for Ne from ab initio data. We also outline possible extensions to the method. Program summary Program Title: CCS CPC Library link to program files: http://***/10.17632/7dt5nzxgbs.1 Developer's repository link:gttp://***/aksam432/CCS Licensing provisions: GPLv3 programming language: Python External routines/libraries: NumPy, matplotlib, ASE, CVXOPT Nature of problem: Ab initio quantum chemistry methods are often computationally very expensive. To alleviate this problem, the development of efficient empirical and semi-empirical methods is necessary. Two-body potentials are ubiquitous in empirical and semi-empirical methods. Solution method: The CCS package provides a new strategy to obtain accurate two body potentials. The potentials are described as cubic splines with curvature constraints. (C) 2020 Elsevier B.V. All rights reserved.

关键词： Two-body potential Force field quadratic programming Cubic splines Python

来源：评论

学校读者我要写书评

暂无评论

Heuristic Robustness Analysis of Model-based Predictive Controllers

引用

IFAC Proceedings Volumes 1993年第2期26卷 359-364页

作者： J.M. Maciejowski S.A. Heise Cambridge University Engineering Department Cambridge CB2 1PZ UK

Model-based predictive control schemes have been applied very successfully in the process industries, even though very little is known about them theoretically — typically even stability cannot be proved. Their use in reconfigurable control schemes makes them of potential interest in applications such as flight control, and the increasing speed of hardware makes such applications feasible in the near future. However an essential prerequisite for such applications is a much better theoretical understanding of MBPC systems. The main theoretical contribution of this paper is a proof, in a state-space setting, that most MBPC schemes are piecewise-LTI, even when constraints are active. On the basis of this, some heuristics are indicated for the selection of competing MBPC designs.

关键词： Predictive control Constraints Robustness quadratic programming

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：