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Kalman filtering with multiple nonlinear-linear mixing state constraints

Kalman filtering with multiple nonlinear-linear mixing state...

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IEEE Conference on Decision and control

作者： X. Fu Y. Jia J. Du F. Yu Seventh Research Division and the Department of Systems and Control Beihang University Beijing China Beihang University Beijing CN Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo Henan China

This paper is devoted to the problem of state estimation for a class of dynamic system with multiple nonlinear-linear (NL) mixing state constraints. A computational algorithm was developed by C. Yang and E. Blasch to incorporate a positive definite quadratic form equality constraint into the Kalman filtering for the ground vehicle tracking. However, when the target tracked in multidimensional space, a single positive definite quadratic form constraint is not enough due to the involvement of other surface such as hyperboloid, paraboloid, or even plane. A analytic method of incorporating multiple nonlinear-linear mixing state constraints into the Kalman filter is presented here, and a sufficient condition is obtained that guarantee the existence of solution. The constraints may be time varying. At each time step the unconstrained Kalman filter solution is projected onto the state constraints surface. This significantly improves the prediction accuracy of the filter. The use of this algorithm is demonstrated on a nonlinear-linear mixing spacecraft positioning problem.

关键词： Kalman filters Symmetric matrices State estimation Optimization Covariance matrix Noise

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Comparative study of event-based control strategies: An experimental approach on a simple tank

Comparative study of event-based control strategies: An expe...

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European control Conference (ECC)

作者： J. Sánchez M. Guarnes S. Dormido A. Visioli Department of Automatic Control and Computer Science Spanish National University for Distance Education (UNED) Madrid Department of Electronics for Automation University of Brescia Italy

In this paper we present a comparative study on the use on event-based strategies for sampling and control of the level of a single tank. In the study a time-based PI control strategy is compared and contrasted with five combinations of pure event-based control approaches. In the event-based control strategies, the triggering of an event is the indicator to send a sample from the sensor or to calculate a new control action. The experimental study tries to provide new experimental evidences about the saving in computation time and data transmission that simple event-based control strategies can provide when a error-free control of the process is not needed.

关键词： Actuators Indexes Process control Wireless sensor networks Tuning Europe

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Switching robustness analysis for switched linear systems

Switching robustness analysis for switched linear systems

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Asian control Conference

作者： Yuping Peng Zhendong Sun Shuzhi Sam Ge Department of Electrical and Computer Engineering National University of Singapore Singapore Center of Control and Optimization College of Automation Science and Engineering South China University of Technology Guangzhou China

This paper investigates the stability of switched linear systems with the perturbed switching. In premises of introducing the notions of common child-path and parent-path, we define distance between switching paths. A constructive procedure is proposed for finding common child-paths, then we reveal a relationship between common child-path and parent-path, and subsequently formulate the distance. Finally, distance between switching paths is extended to relative distance between switching signals, which is used to analyze the robustness for a class of switched linear systems.

关键词： Robustness Linear systems Robust stability Sun Signal analysis Switched systems control systems Robust control Stability analysis controllability

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Disturbance analysis and control for an omnidirectional wheeled mobile robot

Disturbance analysis and control for an omnidirectional whee...

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IEEE International Conference on Mechatronics and automation

作者： Yixu Song Dalong Tan Meng Miao Department of Computer Science and Technology University of Tsinghua Beijing China Shenyan Institute of Automation Chinese Academy and Sciences Shenyang Liaoning China Beijing AeroSpace Control Center Beijing China

The mobile robot with an orthogonal-wheel assembly has omnidirectional motion ability and simple kinematic model for controller design. However, two sliced spheres that switch upon movement are likely to cause disturbances that act on the wheeled motor robot (WMR)'s body. The purpose of the traditional control for a WMR is high joint control stiffness using odometry, which might worsen the trajectory tracking performance of the WMR with orthogonalwheel assemblies. This is because the robot's vibration might cause wheel slippage. Thus, the real-time motion states of the WMR body must be obtained to enable the robot controller to suppress such vibration. This paper provides a method with which to estimate the velocities of the WMR using inner sensors. In our proposed method, the real-time velocities of the WMR are estimated using accelerometers and position-measurement sensors. The fused signal is fed into the WMR controller instead of into the odometry feedback signal. The experimental results demonstrate that the proposed method is effective.

关键词： Mobile robots Robotic assembly Motion control Switches Robot sensing systems Kinematics Trajectory Wheels Robot control Vibration control

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Team AnnieWAY's autonomous system for the DARPA Urban Challenge 2007

Team AnnieWAY's autonomous system for the DARPA Urban Challe...

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作者： Kammel, Sören Ziegler, Julius Pitzer, Benjamin Werling, Moritz Gindele, Tobias Jagzent, Daniel Schöder, Joachim Thuy, Michael Goebl, Matthias Von Hundelshausen, Felix Pink, Oliver Frese, Christian Stiller, Christoph Institute for Measurement and Control University of Karlsruhe Karlsruhe 76131 Germany Institute for Applied Computer Science/Automation University of Karlsruhe Karlsruhe 76128 Germany Industrial Applications of Informatics and Microsystems University of Karlsruhe Karlsruhe 76131 Germany Institute for Distributed Measurement Systems Technical University of Munich Munich 80290 Germany Institute for Institute for Real-Time Computer Systems Technical University of Munich Munich 80290 Germany Department of Aerospace Engineering University of the Federal Armed Forces Neubiberg 85577 Germany

ISBN: (纸本)9783642039904

This paper reports on AnnieWAY, an autonomous vehicle that is capable of driving through urban scenarios and that has successfully entered the finals of the 2007 DARPA Urban Challenge competition. After describing the main challenges imposed and the major hardware components, we outline the underlying software structure and focus on selected algorithms. Environmental perception mainly relies on a recent laser scanner which delivers both range and reflectivity measurements. While range measurements are used to provide 3D scene geometry, measuring reflectivity allows for robust lane marker detection. Mission and maneuver planning is conducted using a concurrent hierarchical state machine that generates behavior in accordance with California traffic laws. We conclude with a report of the results achieved during the competition. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Reflection

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Noninvasive Continuous Blood Pressure Measurement and GPS Position Monitoring of Patients

Noninvasive Continuous Blood Pressure Measurement and GPS Po...

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IEEE Conference on Vehicular Technology (VTC)

作者： Ondrej Krejcar Zdenek Slanina Jan Stambachr Petr Silber Robert Frischer Department of Measurement and Control Faculty of Electrical Engineering and Computer Science Technical University of Ostrava Ostrava Czech Republic Department of Automation and Computing in Metallurgy Faculty of Metallurgy And Materials Engineering Technical University of Ostrava Ostrava Czech Republic

ISBN: (纸本)9781424425143

Need of blood pressure measurement is usable in wide spectrum of applications from physicians offices to home care applications. Many types of blood pressure measurement devices can be bought in electronics shops. All such devices are measurement devices which need to be in contact with human body (hand or foot mainly). Further they allow only one measurement per several minutes interval (typically 10 minutes). Our goal is to develop a small device for noninvasive continuous measurement of blood pressure. This device must be a small battery powered embedded system which measures a blood pressure during a long time period and sends this information to remote operator's stations. In this station the analysis of receiving video data is made for several types of usage. In current state we develop a small device to scan a video or a set of images with the NIR (Near Infra Red) CCD camera. The video data are transferred by wireless connection to the computer where they are analyzed. The first results provide an indication to be a right way to obtain exact continuous blood pressure information. In the future there exists a way to integrate this blood pressure measurement system to concurrently developed biotelemetric system architecture for patients and physicians called Guardian. For position monitoring in outdoor areas there is developed GPS module which informs about patient location and brings very precise time basis for other measuring modules of Guardian system and time synchronization.

关键词： Blood pressure Biomedical monitoring Position measurement Pressure measurement Global Positioning System Patient monitoring Battery charge measurement Time measurement Humans Foot

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Approximation-Based Adaptive Tracking control of Pure-Feedback Nonlinear Systems with Multiple Unknown Time-Varying Delays

Approximation-Based Adaptive Tracking Control of Pure-Feedba...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Min Wang Shuzhi Sam Ge College of Automation and the Center for Control and Optimization South China University of Technology the Institute of Intelligent Systems and Information Technology University of Electronic Science and Technology of China the Department of Electrical and Computer Engineering National University of Singapore

This paper presents adaptive neural tracking control for a class of non-affine pure-feedback systems with multiple unknown state time-varying delays. The separation technique is introduced to decompose unknown functions of all time-varying delayed states into a series of continuous functions of each delayed state. A novel Lyapunov-Krasovskii functional is employed to compensate for the unknown function of current delayed state, which is effectively free from any restrictive assumption on unknown time-delay functions. The proposed control scheme guarantees the boundedness of all the signals in the closed-loop system and the tracking *** studies are provided to demonstrate the effectiveness of the proposed scheme.

关键词： Lyapunov Approximation-Based Adaptive Tracking control of Pure-Feedback Nonlinear Systems with Multiple Unknown Time-Varying Delays

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An Empirical Study of DV-Hop Localization Algorithm in Random Sensor Networks

An Empirical Study of DV-Hop Localization Algorithm in Rando...

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International Conference on Intelligent Computation Technology and automation, ICICTA

作者： Lingfei Wu Max Q.-H. Meng Zhenzhong Dong Huawei Liang Department of Automation University of Science and Technology Hefei Anhui China Center of Biomimetic Sensing and Control Research Institute of Intelligent Machines Chinese Academy and Sciences Hefei Anhui China Department of Electronic Engineering Chinese University of Hong Kong Hong Kong China Department of Computer Science University of Science and Technology Hefei Anhui China

ISBN: (纸本)9781424447411

Node localization is an important problem for location-dependent applications of wireless sensor networks. Aiming at the positioning problem of wireless sensor networks node location, an improved DV-Hop localization algorithm is proposed in this paper. The proposed method firstly recalculates the hop-size and sends different correction along different directions instead of computing a single correction to be broadcasted into the networks. Then we empirically evaluate the difference between distance estimate and actual distance through a number of simulation experiments statistical results. We find empirical parameter to improve the accuracy of distance estimate. Simulation results show that the performance of the proposed scheme outweighs classical DV-Hop algorithms, especially in lower connectivity.

关键词： Wireless sensor networks Intelligent sensors computer networks Intelligent networks Machine intelligence Biomimetics Intelligent robots Robotics and automation Broadcasting Computational modeling

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Gene Selection of Multiple Cancer Types via Huberized Multi-class Support Vector Machine

Gene Selection of Multiple Cancer Types via Huberized Multi-...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Juntao Li Yingmin Jia Junping Du Fashan Yu the Department of Systems and Control Beihang University (BUAA) the Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and TechnologyBeijing University of Posts and Telecommunications the School of Electrical Engineering and Automation Henan Polytechnic University

This paper proposes a new type of regularization in the context of multi-class support vector machine for simultaneous classification and gene *** combining the huberized hinge loss function and the elastic net penalty,the proposed support vector machine can do automatic gene selection and further encourage a grouping effect in the process of building classifiers,thus leading a sparse multi-classifiers with enhanced ***,a reasonable correlation between the two regularization parameters is proposed and an efficient solution path algorithm is *** of microarray classification are performed on the leukaemia data set to verify the obtained results.

关键词： Gene selection grouping effect microarray classification solution path support vector machine(SVM)

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Frequency-domain approach to robust iterative learning controller design for uncertain time-delay systems

Frequency-domain approach to robust iterative learning contr...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Deyuan Meng Yingmin Jia Junping Du Fashan Yu the Department of Systems and Control Beihang University (BUAA) the Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and TechnologyBeijing University of Posts and Telecommunications the School of Electrical Engineering and Automation Henan Polytechnic University

This paper deals with the robust iterative learning control(ILC) for time-delay systems(TDS) with both model and delay *** ILC algorithm with anticipation in time is considered,and a frequency-domain approach to its design is *** shows that a necessary and sufficient convergence condition can be provided in terms of three design parameters:the lead time,the learning gain,and the performance weighting *** particular,if the lead time is chosen as just the delay estimate,then the convergence condition is derived independent of the delay and the *** this case,with the selection of the performance weighting function,the perfect tracking can be achieved,or the least upper bound of the L2-norm of the limit tracking error can be guaranteed less than the least upper bound of the L2-norm of the initial tracking error.

关键词： Iterative learning control time-delay systems frequency-domain approach anticipation in time

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