In this paper, we provide a novel contraction-theoretic approach to analyze two-time scale systems, including those commonly encountered in Online Feedback Optimization (OFO). Our framework endows these systems with s...
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This study proposes an image-based visual servoing(IBVS)method based on a velocity observer for an unmanned aerial vehicle(UAV)for tracking a dynamic target in Global Positioning System(GPS)-denied *** proposed method...
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This study proposes an image-based visual servoing(IBVS)method based on a velocity observer for an unmanned aerial vehicle(UAV)for tracking a dynamic target in Global Positioning System(GPS)-denied *** proposed method derives the simplified and decoupled image dynamics of underactuated UAVs using a constructed virtual camera and then considers the uncertainties caused by the unpredictable rotations and velocities of the dynamic target.A novel image depth model that extends the IBVS method to track a rotating target with arbitrary orientations is *** depth model ensures image feature accuracy and image trajectory smoothness in rotating target *** relative velocities of the UAV and the dynamic target are estimated using the proposed velocity *** to the velocity observer,translational velocity measurements are not required,and the control chatter caused by noise-containing measurements is *** integral-based filter is proposed to compensate for unpredictable environmental disturbances in order to improve the antidisturbance *** stability of the velocity observer and IBVS controller is analyzed using the Lyapunov *** simulations and multistage experiments are conducted to illustrate the tracking stability,anti-disturbance ability,and tracking robustness of the proposed method with a dynamic rotating target.
Mining erasable patterns from a database are for applying resources to maximize production with limited funds. Since the concept of erasable pattern mining was proposed, a manager can use it to optimize the production...
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This paper addresses a fundamental challenge in data-driven reachability analysis: accurately representing and propagating non-convex reachable sets. We propose a novel approach using constrained polynomial zonotopes ...
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With the development of science and technology,graph convolutional network has made great progress in improving the accuracy of action ***,there still exists some deficiencies in current ***,the human skeleton point c...
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ISBN:
(数字)9789887581536
ISBN:
(纸本)9781665482561
With the development of science and technology,graph convolutional network has made great progress in improving the accuracy of action ***,there still exists some deficiencies in current ***,the human skeleton point coordinates entering into the network are barely refined,which may cause large ***,the second-order information(the length and direction of bones),which can reflect action characteristics discriminatively,is rarely *** solve the above issues,a two stream graph convolutional network with pose refinement for skeleton based action recognition is ***,we use an adaptive block to to help improve the *** test our method on Kinetics dataset and the experiment show it can get better results than some recent methods,which plays a positive role in future research.
We consider a perimeter defense problem in a planar conical environment comprising a turret that has a finite range and non-zero startup time. The turret seeks to defend a concentric perimeter against N ≥ 2 intruders...
We consider a perimeter defense problem in a planar conical environment comprising a turret that has a finite range and non-zero startup time. The turret seeks to defend a concentric perimeter against N ≥ 2 intruders. Upon release, each intruder moves radially towards the perimeter with a fixed speed. To capture an intruder, the turret's angle must be aligned with that of the intruder's angle and must spend a specified startup time at that orientation. We address offline and online versions of this optimization problem. Specifically, in the offline version, we establish that in general parameter regimes, this problem is equivalent to solving a Travelling Repairperson Problem with Time Windows (TRP-TW). We then identify specific parameter regimes in which there is a polynomial time algorithm that maximizes the number of intruders captured. In the online version, we present a competitive analysis technique in which we establish a fundamental guarantee on the existence of at best (N – 1)-competitive algorithms. We also design two online algorithms that are provably 1 and 2-competitive in specific parameter regimes.
This paper proposes a novel approach for the design of stabilizing sliding manifolds for linear systems affected by model uncertainties and external disturbances. In classical sliding mode control approaches, rejectin...
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ISBN:
(数字)9783907144107
ISBN:
(纸本)9798331540920
This paper proposes a novel approach for the design of stabilizing sliding manifolds for linear systems affected by model uncertainties and external disturbances. In classical sliding mode control approaches, rejecting model uncertainties and external disturbances often relies on designing a dis-continuous control law with a suitable gain. Specifically, the greater the uncertainty, the larger the control gain. However, this approach might be detrimental to the plant. Instead, the proposed technique deals with this problem by focusing on the design of a suitable sliding manifold, where stability is guaranteed despite model uncertainties. This approach exhibits several benefits such as not needing any further identification process and designing a smaller control gain.
Successfully achieving bipedal locomotion remains challenging due to real-world factors such as model uncertainty, random disturbances, and imperfect state estimation. In this work, we propose a novel metric for locom...
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ISBN:
(数字)9798350384574
ISBN:
(纸本)9798350384581
Successfully achieving bipedal locomotion remains challenging due to real-world factors such as model uncertainty, random disturbances, and imperfect state estimation. In this work, we propose a novel metric for locomotive robustness – the estimated size of the hybrid forward invariant set associated with the step-to-step dynamics. Here, the forward invariant set can be loosely interpreted as the region of attraction for the discrete-time dynamics. We illustrate the use of this metric towards synthesizing nominal walking gaits using a simulation-in-the-loop learning approach. Further, we leverage discrete-time barrier functions and a sampling-based approach to approximate sets that are maximally forward invariant. Lastly, we experimentally demonstrate that this approach results in successful locomotion for both flat-foot walking and multi-contact walking on the Atalante lower-body exoskeleton.
control of cart based inverted pendulum system is a classical problem of control system and is widely used to verify the effectiveness of control algorithms. In this paper, fractional order PID (FOPID) controller has ...
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control of cart based inverted pendulum system is a classical problem of control system and is widely used to verify the effectiveness of control algorithms. In this paper, fractional order PID (FOPID) controller has been used to control the cart position and pendulum angle. Three optimization algorithms namely, particle swarm optimization (PSO), water cycle algorithm (WCA) and grasshopper optimization algorithm (GOA) has been used to tune the parameters of the FOPID controller for underline problem. Results shows that, FOPID controller was able to control both cart position and pendulum angle effectively. Further, it has also been shown that GOA tuned FOPID controller performs better as compared to WCA and PSO tuned FOPID controller. The entire system was simulated using MATLAB2018a.
Very recently,intensive discussions and studies on Industry 5.0 have sprung up and caused the attention of researchers,entrepreneurs,and policymakers from various sectors around the ***,there is no consensus on why an...
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Very recently,intensive discussions and studies on Industry 5.0 have sprung up and caused the attention of researchers,entrepreneurs,and policymakers from various sectors around the ***,there is no consensus on why and what is Industry 5.0 *** this paper,we define Industry 5.0from its philosophical and historical origin and evolution,emphasize its new thinking on virtual-real duality and human-machine interaction,and introduce its new theory and technology based on parallel intelligence(PI),artificial societies,computational experiments,and parallel execution(the ACP method),and cyber-physical-social systems(CPSS).Case studies and applications of Industry 5.0 over the last decade have been briefly summarized and analyzed with suggestions for its future *** believe that Industry 5.0 of virtual-real interactive parallel industries has great potentials and is critical for building smart *** are outlined to ensure a roadmap that would lead to a smooth transition from CPS-based Industry 4.0 to CPSS-based Industry 5.0 for a better world which is Safe in physical spaces,S ecure in cyberspaces,Sustainable in ecology,Sensitive in individual privacy and rights,Service for all,and Smartness of all.
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