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检索条件"机构=Department of Control Science and Computer Engineering"

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Stochastic Differential Dynamic Programming

Stochastic Differential Dynamic Programming

引用

American control Conference

作者： Evangelos Theodorou Yuval Tassa Emo Todorov Computational Learning and Motor Control Lab Departments of Computer Science and Neuroscience University of Southern California Interdisciplinary Center for Neural Computation Hebrew University Jerusalem Israel Department of Computer Science and Engineering and the Department of Applied Mathematics University of Washington Seattle WA

ISBN: (纸本)9781424474264

Although there has been a significant amount of work in the area of stochastic optimal control theory towards the development of new algorithms, the problem of how to control a stochastic nonlinear system remains an open research topic. Recent iterative linear quadratic optimal control methods iLQG [1], [2] handle control and state multiplicative noise while they are derived based on first order approximation of dynamics. On the other hand, methods such as Differential Dynamic Programming expand the dynamics up to the second order but so far they can handle nonlinear systems with additive noise. In this work we present a generalization of the classic Differential Dynamic Programming algorithm. We assume the existence of state and control multiplicative process noise, and proceed to derive the second-order expansion of the cost-to-go. We find the correction terms that arise from the stochastic assumption. Despite having quartic and cubic terms in the initial expression, we show that these vanish, leaving us with the same quadratic structure as standard DDP.

关键词： dynamic programming theory of optimal control multiplicative noise Quartic stochastic derivative Additive noise correct entry dynamics Work area Handles

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On the equivalence of z-domain and s-domain: The inverse of convolution integral and its application to systems identification

On the equivalence of z-domain and s-domain: The inverse of ...

引用

IEEE International Conference on Industrial Technology (ICIT)

作者： Guillermo Obregón-Pulido Emmanuel Nuño Alberto de-la-Mora Electronics Department University of Guadalajara Santa Maria Rio Grande do Sul Brazil Computer Science Department the Institute of Industrial and Control Engineering University of Guadalajara Barcelona Spain

ISBN: (纸本)9781424456956

In this work we present an equation that obtains the Laplace transform of a time function from its z-transform. This equation is the integral representation of the inversion of the well know convolution integral, which obtains the z-transform using the Laplace transform. The paper also presents the application of the presented method to obtain the estimation of continuous systems through their discrete time samples.

关键词： Convolution System identification Mathematical model Integral equations Laplace equations Frequency domain analysis Continuous time systems Signal processing control system synthesis Signal synthesis

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An efficient ICA approach based on neural network framework for biomedical applications

An efficient ICA approach based on neural network framework ...

引用

International Joint Conference on Neural Networks (IJCNN)

作者： Yue-Der Lin Chih-Yu Hsu Hung-Yun Chen Kuo-Kun Tseng Department of Automatic Control Engineering and Master Program of Biomedical Informatics and Biomedical Engineering Feng Chia University FCU Taichung Taiwan Department of Information and Communication Engineering Chao Yang University of Technology Taichung Taiwan Department of Automatic Control Engineering Feng Chia University FCU Taichung Taiwan Department of Computer Science and Engineering Hung Kuang University Taichung Taiwan

The paper developed a block-wise approach for ICA algorithms which can improve the computational efficiency of ICA without the degradation of performance for the separation of biomedical signals. Source signals including electrocardiogram (ECG), electromyogram (EMG) and 60-Hz sinusoid are linearly mixed for experimental tests. The mean-square errors (MSE) between the original sources and the separated signals are calculated for the evaluation of separation performance. These results demonstrated that the proposed block-wise approach can achieve the desired separation performance of signals in a more efficient way.

关键词： Equations Algorithm design and analysis Electrocardiography Electromyography Source separation Iterative algorithm Indexes

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Simultaneous Registration and Fusion of Radar and ESM by EM-EKS

Simultaneous Registration and Fusion of Radar and ESM by EM-...

引用

The 8th World Congress on Intelligent control and Automation(第八届智能控制与自动化世界大会 WCICA 2010)

作者： Zhenhua Li Henry Leung Liang Tao School of Control Science and Engineering Shandong University Jinan ShandongP.R.China Department of Electrical and Computer Engineering University of Calgary Calgary AlbertaCanada T2N School of Control Science and Engineering Shandong University JinanShandong P.R.China

In this paper, we present an approach for radar and electronic support measure (ESM) simultaneous registration and fusion. An expectation-maximization based extended Kalman smoother (EM-EKS) is developed here to perform fusing of the system states and to simultaneously estimate the sensor biases. computer simulations are carried out to validate the efficiencies and robustness of the proposed algorithm.

关键词： Kalman filters Radar tracking Mathematical model Radar measurements Noise Target tracking

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ℒ2- gain control of time-delay systems with actuator saturation

ℒ2- gain control of time-delay systems with actuator satura...

引用

International Conference on System science and engineering (ICSSE)

作者： M. N. Alpaslan Parlakçı Ibrahim B. Küçükdemiral Department of Computer Science Istanbul Bilgi University Dolapdere Istanbul Turkey Depart. of Control and Automation Engineering Yildiz Technical University Beşiktaş Istanbul Turkey

Disturbance attenuation problem in terms of ℒ 2- gain for continuous linear time-delay (LTD) systems with nonzero initial conditions, time-varying delays and saturating control is addressed where the disturbances acting on the system are with bounded energy. First, a group of sufficient conditions in terms of bilinear matrix inequalities (BMIs) are obtained. Then, to solve this problem, cone complementary linearization method is adopted to the problem. The proposed method utilizes convex description of nonlinear saturation phenomenon by means of convex hull of some linear feedback which leads to a few additional ellipsoidal conditions in terms of linear matrix inequalities (LMIs). The validity of the method is illustrated through some examples at the end.

关键词： Artificial neural networks Nickel

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Local stability analysis of feedback linearizing schemes for a class of uncertain nonlinear systems

Local stability analysis of feedback linearizing schemes for...

引用

作者： Rohr, E.R. Pereira, L.F.A. Coutinho, D.F. School of Electrical Engineering and Computer Science University of Newcastle University Drive Callaghan NSW 2308 Australia Electrical Engineering Department Universidade Federal do Rio Grande do Sul Av. Osvaldo Aranha 103 Porto Alegre - RS Brazil Group of Automation and Control Systems PUCRS Av. Ipiranga 6681 90619-900 Porto Alegre Brazil

ISBN: (纸本)9783902661807

This work presents a (numerical) technique to the local stability analysis of feedback linearizing control schemes for a class of uncertain nonlinear systems. A nonlinear decomposition of vector functions is applied to transform the Lyapunov stability conditions into a set of state- and parameter-dependent LMI (linear matrix inequality) constraints, which are numerically solved in a finite set of points. The proposed method can deal with a large class of nonlinear systems as well as very complex Lyapunov function candidates. In addition, a maximized level set of the Lyapunov function is proposed as an estimate of the system stability region. © 2010 IFAC.

关键词： Lyapunov functions

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Fuzzy support vector machine with a fuzzy nearest neighbor classifier for insect footprint classification

Fuzzy support vector machine with a fuzzy nearest neighbor c...

引用

IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Gyeongyong Heo Reinhard Klette Young Woon Woo Kwang-Baek Kim Nam Ho Kim Department of Multimedia Engineering Dongeui University Busan South Korea Department of Computer Science University of Auckland Auckland New Zealand Division of Computer Information and Engineering Silla University Busan South Korea Division of Electrical and Control Engineering Pukyong National University Busan South Korea

The support vector machine (SVM) of statistical learning theory was successfully applied in various fields, but still suffers from noise sensitivity originating from the fact that all the data points are treated equally. To relax this problem, the SVM was extended into a fuzzy SVM (FSVM) by the introduction of fuzzy memberships. The FSVM also has been further extended in two ways, by adopting a different objective function with the help of domain-specific knowledge, or by employing a different membership calculation method. In this paper we follow the second approach by proposing a new membership calculation method using a fuzzy k nearest neighbor classifier (F-KNN). Although there are already several membership calculation methods to enhance the performance of the FSVM, one problem in those methods is that they assume a specific data distribution. The F-KNN does not assume any data distribution, which helps the proposed method to accommodate various data distributions in real world problems. The proposed algorithm was applied to an insect footprint classification problem, and results verify the effectiveness of the method.

关键词： Support vector machines Training Kernel Insects Nearest neighbor searches Noise Sensitivity

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Opportunities and challenges in the application of advanced control to power electronics and drives

Opportunities and challenges in the application of advanced ...

引用

IEEE International Conference on Industrial Technology (ICIT)

作者： Graham C. Goodwin David Q. Mayne Tina Chen Colin Coates Galina Mirzaeva Daniel E. Quevedo School of Electrical Engineering and Computer Science University of Newcastle Callaghan NSW Australia Department of Electrical and Electronic Engineering Imperial College London London UK Department of Electrical and Control Engineering National Chiao Tung University Hsinchu Taiwan

ISBN: (纸本)9781424456956

control technology underpins the operation of many, and arguably all, modern high technology systems. Such systems include transportation (aircraft, high speed trains, marine vessels, automobiles), telecommunication systems, electricity networks, mining, minerals processing and agriculture. A particular area where control is playing an increasingly important role is industrial electronics. In this paper we will adopt a control engineering perspective to reflect on the opportunities and challenges that exist in the application of advanced control to these systems.

关键词： Power electronics Telecommunication control control systems Marine technology Air transportation Marine transportation Rail transportation Aircraft propulsion Aerospace electronics Automobiles

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引用

International Conference on Bio-Inspired Computing: Theories and Applications, BICTA

作者： Zhujin Zhang Shuo Wang Xingyi Zhang Zheng Zhang School of Computer and Information Science University of South Australia Adelaide SA Australia Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China Key Laboratory of Intelligent Computing and Signal Processing of Ministry of Education School of Computer Science and Technology Anhui University Hefei China

Randić et al. proposed a significant graphical representation for DNA sequences, which is very compact and avoids loss of information. In this paper, we build a fast algorithm for this graphical representation with time complexity O(n 2 ), and find another important advantage in the representation: no degeneracy. Moreover, we propose a new method to do similarity analysis of DNA sequences based on the representation. The approach adopts four elements of covariance matrix as a descriptor, and is illustrated on the first exon of beta-globin genes from 11 different species.

关键词： Rabbits Educational institutions Bovine Humans Sun DNA Mice

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Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL

Design and experimental implementation of a compliant hybrid...

引用

IEEE Conference on Decision and control

作者： Koushil Sreenath Hae-Won Park Ioannis Poulakakis J. W. Grizzle Control Systems Laboratory Electrical Engineering and Computer Science Department University of Michigan Ann Arbor MI USA Mechanical Engineering Department University of Michigan Ann Arbor MI USA Mechanical Engineering Department University of Delaware Newark DE USA

This paper extends the method of virtual constraints and hybrid zero dynamics, developed for rigid robots with a single degree of underactuation, to MABEL, a planar biped with a novel compliant transmission. A time-invariant feedback controller is designed for realizing exponentially stable waking gaits in such a way that the closed-loop system preserves the natural compliance of the system, and therefore the energetic benefits of springs. This is accomplished by incorporating the compliance into the hybrid zero dynamics. The compliant-hybrid-zero-dynamics-based controller is implemented experimentally and shown to realize stable walking gaits which make use of the compliance to store and return energy to the gait.

关键词： Leg Springs Legged locomotion Torso Actuators Robot kinematics

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