This paper presents a position control strategy based on the iterative method for a planar Pendubot. The control objective of the system is to move the end-point from any initial equilibrium point to a target equilibr...
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This paper presents a position control strategy based on the iterative method for a planar Pendubot. The control objective of the system is to move the end-point from any initial equilibrium point to a target equilibrium point. The presented method is based on the iterative steering, where a converging control law is applied repeatedly. In order to compute such a control law, the dynamic equations of the system are transformed via partial feedback linearization and nilpotent approximation. Finally, the simulation results demonstrate that the position control objective is realized by using this control strategy.
A lot of vision systems have been embedded in devices around us, like mobile phones, vehicles and UAVs. Many of them still need interactive operations of human users. However, specifying accurate object information co...
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Multi-agent task assignment problem exists in collaborative target tracking, collaborative rescue, regional search, etc. Most researchers regarding multi-agent task assignment only consider static tasks. However, in c...
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This paper explains the development of an electric cart that helps the elderly maintain or improve their physical strength. Unlike commercially available ones, it has a pedal unit that provides some exercise for a use...
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This paper explains the development of an electric cart that helps the elderly maintain or improve their physical strength. Unlike commercially available ones, it has a pedal unit that provides some exercise for a user in training his lower limbs. An impedance model describes the feeling of pushing the pedals. The largest pedal load is determined based on a pedaling experiment. An H∞ controller is designed for each of the largest pedal load and virtually no load. A control law, which is based on the concept of dynamic parallel distributed compensation, is designed using the rating of perceived exertion of a driver as a criterion to choose a pedal load between the largest and almost zero. Five university students and twelve elderly people participated experiments to verify the system design and the validity of the system.
This paper solves the Sylvester equation in the form of AX + XB = C in a distributed way, and proposes three distributed continuous-time algorithms for three cases. We start with the basic algorithm for solving a leas...
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Adaptive Dynamic Programming(ADP) with critic-actor architecture is a useful way to achieve online learning *** algorithm Gaussian-Kernel Adaptive Dynamic Programming(GK-ADP) that has been developed before has a k...
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ISBN:
(纸本)9781538629185
Adaptive Dynamic Programming(ADP) with critic-actor architecture is a useful way to achieve online learning *** algorithm Gaussian-Kernel Adaptive Dynamic Programming(GK-ADP) that has been developed before has a kind of two-phase iteration,which not only approximates value function,but also optimizes hyper-parameters ***,just like most iteration algorithms are applied in practice,the scale of sample set will increase as the complexity of the system increases,and it will induce a high computation *** order to speed up computation,a practical acceleration method using parallel computation for GK-ADP is presented in this *** realize parallel computation,a high efficient configuration based on CUDA is designed,in which a group of GPUs work in parallel to compute the most complex part of *** comparison test illustrates that the computation burden which hinders GK-ADP’s application is reduced to a large extent when the parallel computing is introduced.
In the envisioned smart grid, high penetration of uncertain renewables, unpredictable participation of (industrial) customers, and purposeful manipulation of smart meter readings, all highlight the need for accurate, ...
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In the envisioned smart grid, high penetration of uncertain renewables, unpredictable participation of (industrial) customers, and purposeful manipulation of smart meter readings, all highlight the need for accurate, fast, and robust power system state estimation (PSSE). Nonetheless, most real-time data available in the current and upcoming transmission/distribution systems are nonlinear in power system states (i.e., nodal voltage phasors). Scalable approaches to dealing with PSSE tasks undergo a paradigm shift toward addressing the unique modeling and computational challenges associated with those nonlinear measurements. In this study, we provide a contemporary overview of PSSE and describe the current state of the art in the nonlinear weighted least-squares and least-absolutevalue PSSE. To benchmark the performance of unbiased estimators, the Cramer-Rao lower bound is developed. Accounting for cyber attacks, new corruption models are introduced, and robust PSSE approaches are outlined as well. Finally, distribution system state estimation is discussed along with its current challenges. Simulation tests corroborate the effectiveness of the developed algorithms as well as the practical merits of the theory.
To diagnose the specific reasons that lead to deterioration of controller performance and improve the diagnostic accuracy,a performance diagnosis method based on eigenvector subspace K-mean clustering is ***,the numbe...
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ISBN:
(纸本)9781538629185
To diagnose the specific reasons that lead to deterioration of controller performance and improve the diagnostic accuracy,a performance diagnosis method based on eigenvector subspace K-mean clustering is ***,the number of standard deterioration performance subspace with different degrees of deterioration information is increased on the basis of the eigenvector subspace distance diagnosis method,in which multiple distance values between eigenvector subspaces are ***,K-mean clustering is used to divide these distance values into two classes,and the clustering center with a maximum number of points is selected as the representative ***,current performance degradation factor is attributed to the category that represented by the nearest standard performance *** simulation,a double-tank model is established,and simulation result shows that average accuracy of controller performance diagnosis reaches 99.4%approximately.
Accurate short-term wind power prediction can improve the trade and the dispatch level of wind *** predict the short-term wind power,we investigated the empirical mode decomposition(EMD) of numerical weather predict...
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ISBN:
(纸本)9781538629185
Accurate short-term wind power prediction can improve the trade and the dispatch level of wind *** predict the short-term wind power,we investigated the empirical mode decomposition(EMD) of numerical weather prediction(NWP) and genetic algorithm(GA) optimization of support vector regression(SVR).First,the wind speed data from NWP is decomposed into the EMD components,including multiple intrinsic mode functions(IMFs) and one ***,a genetic algorithmsupport vector regression model(GA-SVR) is used to build models of all ***,the prediction results of all components are integrated,which as input of wind-power curve for obtain the predicted value of wind *** order to validate the proposed method,one real-world dataset was used for model training and testing,and the results show that the proposed method is more accurate and effective than SVR and back propagation neural networks(BPNN).
This paper presents a hybrid diagnosis and tuning method of coaxial cavity filter based on experience and *** method is based on the experience of skilled staff at the initial stage of tuning,and put the bandpass and ...
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ISBN:
(纸本)9781538629185
This paper presents a hybrid diagnosis and tuning method of coaxial cavity filter based on experience and *** method is based on the experience of skilled staff at the initial stage of tuning,and put the bandpass and echo curve of the filter to the frequency *** the second stages of the tuning,the phase shift is removed,which is caused by the transmission line and the higher order mode at first,then the loss factor of the filter is ***,we use the improved Cauchy method and filter synthesis knowledge to realize the coupling matrix ***,the implicit space mapping algorithm is used to establish the mapping relationship between the coupling matrix variation and the screw variation,in order to guide the tuning amplitude and direction by the coupling *** show that this method has better effects on saving tuning time and reducing tuning difficulties,and it has certain popularization value for the batch production of the filter.
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