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TRAJECTORY TRACKING CONTROL OF EMERGENCY SUPPLIES TRANSPORT ROBOTS BASED ON FUZZY MPC

JOURNAL OF INDUSTRIAL AND MANAGEMENT OPTIMIZATION 2023年第10期19卷 7616-7639页

作者： Tang, M. I. N. A. N. Zhang, Y. A. Q., I Yan, Y. A. G. U. A. N. G. Wang, W. E. N. J. U. A. N. An, Bo Elect Engn Lanzhou Jiaotong Univ Sch Automation Lanzhou 730070 Peoples R China Power Engn Lanzhou Jiaotong Univ Sch New Energy Lanzhou 730070 Peoples R China

"Contactless" distribution plays an important role in emergency supplies transportation, and the trajectory tracking control of emergency supplies transport robots is the key technology to achieving "contactless" distribution precision. In this paper, a trajectory tracking control method for emergency supplies transport robots was proposed based on fuzzy MPC. Firstly, a kinematic model of the emergency supplies transport robots was established, and the motion parameters were identified by the recursive least square algorithm. Secondly, aiming at the velocity problem of trajectory tracking of emergency supplies transport robots, a fuzzy control method was proposed to optimize the velocity error dynamically. Thirdly, the model predictive control theory was introduced, and an expanded state observer was designed for the total disturbances to optimize the control of the tracking trajectory of the emergency supplies transport robots. Finally, a simulation model was built in Simulink, and the performance of the trajectory tracking controller was verified by co-simulation using CarSim/ Simulink. The simulation results show that, compared with the classical MPC trajectory tracking controller, the optimized velocity error MPC trajectory tracking controller improves the operational stability of the robots and the trajectory tracking accuracy by 13.18%.

关键词： Emergency supplies transport robots model predictive control fuzzy control recursive least square algorithm extended state observer

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Improved indoor visible light communication with PAM and RLS decision feedback equalizer

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IETE JOURNAL OF RESEARCH 2013年第6期59卷 672-678页

作者： Bandara, Kasun D. Niroopan, Pararajasingam Chung, Yeon-Ho Pukyong Natl Univ Dept Informat & Commun Engn Pusan South Korea

One of the key factors that limits the data rate in visible light communication (VLC) is switching speed of the transmitter LEDs. In this paper, a multilevel pulse amplitude modulation (PAM) scheme is employed to increase the data rate significantly while maintaining the LED switching speed limitation. With the use of the multilevel PAM, the training sequence (TS) length is considerably reduced up to 1.67% of the data frame at the recursive least square decision feedback equalizer (RLS-DFE) receiver. This reduction in the TS length allows more data bits to transmit in the frame, thereby increasing the throughput. The proposed VLC system consists of four LED transmitters to transmit data while illuminating the environment at the same time in compliance with the ISO standards. Furthermore, the analysis of the outage area probability demonstrates that the proposed system supports high data rate transmission at nearly error-free rates for most areas in indoor environments.

关键词： Light emitting diode Pulse amplitude modulation recursive least square algorithm Training sequence Visible light communication

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Fuzzy prediction of chaotic time series based on singular value decomposition

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APPLIED MATHEMATICS AND COMPUTATION 2007年第2期185卷 1171-1185页

作者： Gu, Hong Wang, Hongwei Dalian Univ Technol Dept Automat Dalian 116024 Peoples R China

For dynamic systems with complex, ill-conditioned, or nonlinear characteristics, the modeling method based on fuzzy sets is very effective to describe the properties of the systems. In this paper, a fuzzy modeling method based on singular value decomposition (SVD) is proposed. First, a fuzzy clustering method is used to confirm the input space of fuzzy model. Then, the recursive least square algorithm with singular value decomposition is applied to estimate the consequent parameters of fuzzy model in order to avoid error delivery and error accumulation. Furthermore, the parameters of fuzzy model are also optimized by the presented algorithm. To demonstrate the performance of this modeling method, simulations on Mackey-Glass time series and Lorenz chaotic system are performed. The results show that this method provides effective and accurate prediction. (c) 2006 Elsevier Inc. All rights reserved.

关键词： singular value decomposition recursive least square algorithm fuzzy clustering method chaotic time series

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Design of demodulator for the chaotic modulation communication system

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IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-FUNDAMENTAL THEORY AND APPLICATIONS 1997年第3期44卷 262-267页

作者： Leung, H Lam, J UNIV OTTAWA DEPT PHYSOTTAWAON K1N 6N5CANADA

Chaotic modulation has recently been proposed for spread spectrum (SS) and code division multiple access (CDMA) communication. It embeds the signal of transmission in the bifurcating parameter of a chaotic dynamical system, and uses the wide-band output of the chaotic system as the transmitted signal. In this brief, me consider the demodulation of this communication scheme using an adaptive filter. Not only can an adaptive filter reduce the effect of channel noise, but it also estimates the bifurcating parameter (i.e., the signal of transmission) sequentially which is required in a communication system, Three kinds of adaptive filters: the least mean square (LMS) algorithm, the recursive least square (RLS) technique and the Kalman filter, are considered here. It is found that the demodulators based on these adaptive filters outperform the standard inversion approach used in the literature.

关键词： adaptive filters chaotic modulation extended Kalman filter least mean square algorithm recursive least square algorithm

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Extracting Fetal ECG Signals Through a Hybrid Technique Utilizing Two Wavelet-Based Denoising algorithms

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IEEE ACCESS 2023年 11卷 91696-91708页

作者： Darsana, P. Kumar, Vaegae Naveen Vellore Inst Technol Sch Elect Engn Vellore 632014 Tamil Nadu India

Developing an intelligent technique for fetal heartbeat detection to monitor the cardiac function of the fetus in the initial stages of pregnancy is crucial. In this research work, two hybrid algorithms are proposed that use a combination of recursive least square algorithm (RLS) and stationary wavelet transform (SWT) for fetal ECG extraction. The goal of this research is to enhance the fetal ECG signal, reduce noise and artifact, and accurately detect the R-peaks by employing improved spatially selective noise filtration (ISSNF) method or threshold-based denoising approach in the wavelet domain. Accurate fetal R-peak detection can provide important clinical information and aid in the diagnosis and treatment of fetal heart conditions. The primary aim is to extract a clear fetal ECG signal from the mixed abdominal signal. The abdominal signal is divided into multiscale components using SWT, with different levels of noise determining the scale of wavelet decomposition. The RLS algorithm is then utilized for removing maternal ECG components, and either ISSNF or threshold-based algorithms are employed for denoising in the wavelet domain. We evaluate the effectiveness of our proposed method using both synthetic and clinical data. Our analysis involves qualitative and quantitative measures, including visual inspection, signal-to-noise ratio (SNR) computation, and QRS complex recognition. Our findings reveal that the proposed system exhibits superior performance when compared to conventional adaptive filtering techniques. The experimental results suggest that the proposed system has the potential to extract fetal ECG signals that are clear, with good SNR results and minimal disturbances.

关键词： ECG extraction fetal ECG improved spatially selective noise filtration recursive least square algorithm stationary wavelet transforms threshold-based algorithm

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An on-line capacitor state identification method based on improved RLS

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Transportation Safety and Environment 2021年第3期3卷 231-243页

作者： Shu Cheng Chang Liu Shengxian Xue Maoyu Wang Xun Wu Yu Luo School of Traffic and Transportation Engineering Central South UniversityChangsha 410075China CRRC Changchun Rail Car Co. LtdChangchun 130062China Shenyang Bullet Train Section of China Railway Shenyang Bureau Group Co.Ltd Shenyang 110021China

As an essential part of DC-Link in the power converter,capacitor plays a crucial role in absorbing ripple current and suppressing ripple *** health and residual service life of the DC-Link capacitor is one of the decisive factors for the safety,stability,and efficiency of the system in which it is *** at the shortcomings of existing methods,such as low dynamic sensitivity of data update and fluctuation of identification results,a capacitor state identification method based on improved RLS is proposed in this *** proposed method is optimized by introducing the forgetting factor algorithm and root means square algorithm to modify the iterative formula and final identification *** with existing methods,this method can identify the capacitor’s current state in real time and ***,we successfully verified the accuracy,robustness,and adaptability of the proposed method by a series of experimental tests on a dSPACE platform.

关键词： DC-Link capacitor state identification recursive least square algorithm

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recursive least squares algorithm for a Nonlinear Additive System with Time Delay

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Journal of Shanghai Jiaotong university(Science) 2016年第2期21卷 159-163页

作者：陈晶王秀平 College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China Wuxi Professional College of Science and Technology Wuxi 214028JiangsuChina

This paper proposes a recursive least squares algorithm for a nonlinear additive system with time *** the Weierstrass approximation theorem and the key term separation principle, the model can be simplified as an identification model. Based on the identification model, a recursive least squares identification algorithm is used to estimate all the unknown parameters of the time-delayed additive system. An example is provided to show the effectiveness of the proposed algorithm.

关键词： parameter estimation recursive least square algorithm Weierstrass approximation theorem key term separation principle additive system

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Research on Load Parameter Identification of the Induction Heating 14

Research on Load Parameter Identification of the Induction H...

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14th IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Li, Jingang Luo, Wenxian Chen, Chen Xian Univ Technol Dept Elect Engn Xian Peoples R China

ISBN: (纸本)9781538694909

In view of the problem that the load parameters of induction heating power supply are abrupt at the Curie temperature point and the power supply working state changes, this paper studies the load parameters identification method of induction heating power supply based on recursive least square (RLS) method with variable forgetting factor. This method determines the power and resonant frequency by identifying the load parameters quickly, so as to achieve the purpose of high efficiency and safety heating. According to the equation model of load resonant tank of induction heating power supply, the voltage and current equations of load inductance and resistance are listed, respectively. Then the equation is solved by the recursive least square algorithm method, and the load inductance and resistance are obtained. In this paper, the modeling method of load tank in induct* heating power supply and the application of recursive least square method in the identification scheme are given, especially in the case of sudden change of load parameters. With the theoretical analysis, an experimental platform based on ARM and FPGA is built to realize on-line identification of load parameters, which proves the correctness and feasibility of the theoretical analysis and design scheme.

关键词： induction heating parameter identification recursive least square algorithm forgetting factor

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Vibration control of Piezoactuated Cantilever Beams using Adaptive filtering

Vibration control of Piezoactuated Cantilever Beams using Ad...

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International Conference on Information Communication and Embedded Systems (ICICES)

作者： Marx, L. R. Karl Swathi, L. Thiagarajar Coll Engn Dept Elect & Commun Engn Madurai 625015 Tamil Nadu India

ISBN: (纸本)9781467357869;9781467357876

Adaptive filters play a major role in vibration control of piezoactuated cantilever beams. Though a variety of adaptive algorithms are available to suppress vibrations, recursive least square algorithm is used because of its faster convergence and better control performance. In this paper, the ARX based system identified cantilever beams and their parameters are considered for simulation. Results show that the vibration control of piezoactuated cantilever beams can be achieved using recursive least square algorithm on the adaptive IIR structure. With this algorithm, the percentages of vibration suppression of piezoactuated cantilever beams with different natural frequencies are observed.

关键词： Adaptive filters recursive least square algorithm IIR filter vibration control

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recursive least squares algorithm with Adaptive Forgetting Factor based on Echo State Network

Recursive Least Squares Algorithm with Adaptive Forgetting F...

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9th World Congress on Intelligent Control and Automation (WCICA)

作者： Song, Qingsong Zhao, Xiangmo Feng, Zuren Song, Baohua Changan Univ Sch Informat Engn Xian 710064 Peoples R China Xi An Jiao Tong Univ Syst Engn Inst Xian 710049 Peoples R China Changqing Drilling Co Qingyang Petr Machinery Co Qingyang 745100 Peoples R China

ISBN: (纸本)9781612847009

Echo state network (ESN) is a new paradigm for using recurrent neural networks (RNN) with a simpler training method. Based on ESN, we propose a novel recursive least square (RLS) algorithm and note it as lambda-ESN in this paper. It consists of three main components: an ESN, a recursive least square (RLS) algorithm with adaptive forgetting factor, and a change detection module. At first, the change detection module modifies the forgetting factor online according to ESN output errors. And then, the RLS algorithm regulates the ESN output connection weights. The simulation experiment results show that the proposed ESN-based filters can model nonlinear time-varying dynamical systems very well;the modeling performances are significantly better than those autoregressive moving average (ARMA) model based filters.

关键词： Neural networks Echo state network recursive least square algorithm Change detection Adaptive filter

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