Continuous-time adaptive controllers for systems with a matched uncertainty often comprise an online parameter estimator and a corresponding parameterized controller to cancel the uncertainty. However, such methods ar...
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The present paper deals with data-driven event-triggered control of a class of unknown discrete-time interconnected systems(*** systems).To this end,we start by putting forth a novel distributed event-triggering trans...
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The present paper deals with data-driven event-triggered control of a class of unknown discrete-time interconnected systems(*** systems).To this end,we start by putting forth a novel distributed event-triggering transmission strategy based on periodic sampling,under which a model-based stability criterion for the closed-loop network system is derived,by leveraging a discrete-time looped-functional *** the model-based criterion with a data-driven system representation recently developed in the literature,a purely data-driven stability criterion expressed in the form of linear matrix inequalities(LMIs)is ***,the data-driven stability criterion suggests a means for co-designing the event-triggering coefficient matrix and the feedback control gain matrix using only some offline collected state-input ***,numerical results corroborate the efficacy of the proposed distributed data-driven event-triggered network system(ETS)in cutting off data transmissions and the co-design procedure.
Formation control of fixed-wing aerial vehicles is an important yet rarely addressed problem because of their complex dynamics and various motion constraints,such as nonholonomic and velocity *** guidance-route-based ...
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Formation control of fixed-wing aerial vehicles is an important yet rarely addressed problem because of their complex dynamics and various motion constraints,such as nonholonomic and velocity *** guidance-route-based strategy has been demonstrated to be applicable to fixed-wing ***,it requires a global coordinator and there exists control lag,due to its own *** this reason,this paper presents a fully distributed guidance-route-based formation approach to address the aforementioned ***,a hop-count scheme is introduced to achieve distributed implementation,in which each aircraft chooses a neighbor with the minimum hop-count as a reference to generate its guidance route using only local ***,the model predictive control algorithm is employed to eliminate the control lag and achieve precise formation shape *** addition,the stall protection and collision avoidance are also ***,three numerical simulations demonstrate that our proposed approach can implement precise formation shape control of fixed-wing aircraft in a fully distributed manner.
In this paper, we study the problem of online tracking in linear controlsystems, where the objective is to follow a moving target. Unlike classical tracking control, the target is unknown, non-stationary, and its sta...
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In this paper, we study the problem of online tracking in linear controlsystems, where the objective is to follow a moving target. Unlike classical tracking control, the target is unknown, non-stationary, and its state is revealed sequentially, thus, fitting the framework of online non-stochastic control. We consider the case of quadratic costs and propose a new algorithm, called predictive linear online tracking (PLOT). The algorithm uses recursive least squares with exponential forgetting to learn a time-varying dynamic model of the target. The learned model is used in the optimal policy under the framework of receding horizon control. We show the dynamic regret of PLOT scales with O(√TVT), where VT is the total variation of the target dynamics and T is the time horizon. Unlike prior work, our theoretical results hold for non-stationary targets. We implement PLOT on a real quadrotor and provide open-source software, thus, showcasing one of the first successful applications of online control methods on real hardware. Copyright 2024 by the author(s)
This study addresses the problem of guaranteed cost fault-tolerant fuzzy control for multiline re-entrant manufacturing systems (RMSs) against stochastic disturbances and workstation faults. Initially, a nonlinear hyp...
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For indoor application,which is an entirely GPS-denied environment,visual simultaneous localization and mapping(SLAM) facilitates the real autonomy of unmanned aerial vehicle(UAV) but raises the challenging requiremen...
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ISBN:
(数字)9789887581536
ISBN:
(纸本)9781665482561
For indoor application,which is an entirely GPS-denied environment,visual simultaneous localization and mapping(SLAM) facilitates the real autonomy of unmanned aerial vehicle(UAV) but raises the challenging requirement on accurate localization with low computational *** address this difficulty,a stereo-camera based SLAM system is proposed by applying Entropy theory to *** an extension to ORB-SLAM3,the additional entropy decision module and map processor are specifically *** decision module can improve computing efficiency by deciding whether keyframes or extra optimization should be ***,the map processor is targeted at loading and maintaining the prior map whenever *** results in indoor laboratory environment show that the developed system can achieve the superior localization accuracy in more efficient computation manner with smaller size of mapping compared with ***,the map can be effectively expanded and corrected even when prior information is invalid,greatly increasing the robustness of SLAM system.
In this paper, the problem of time-varying aerodynamic parameters identification under measurement noises is studied. By analyzing the key aerodynamic parameters that affect the aircraft control system, a system model...
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In this paper, the problem of time-varying aerodynamic parameters identification under measurement noises is studied. By analyzing the key aerodynamic parameters that affect the aircraft control system, a system model with extended states for identifying equivalent aerodynamic parameters is established, and error parameters are extended to the system state, avoiding the difficulty caused by the unknown dynamic in the system. Furthermore, an identification algorithm based on extended state Kalman filter is designed, and it is proved that the algorithm has quasi-consistency, thus, the estimation error can be evaluated in real time. Finally, the simulation results under typical flight scenarios show that the designed algorithm can accurately identify aerodynamic parameters, and has desired convergence speed and convergence precision.
Continuous-time adaptive controllers for systems with a matched uncertainty often comprise an online parameter estimator and a corresponding parameterized controller to cancel the uncertainty. However, such methods ar...
详细信息
ISBN:
(数字)9798350316339
ISBN:
(纸本)9798350316346
Continuous-time adaptive controllers for systems with a matched uncertainty often comprise an online parameter estimator and a corresponding parameterized controller to cancel the uncertainty. However, such methods are often impossible to implement directly, as they depend on an unobserved estimation error. We consider the equivalent discrete-time setting with a causal information structure, and propose a novel, online proximal point method-based adaptive controller, that under a sufficient excitation (SE) condition is asymptotically stable and achieves finite regret, scaling only with the time required to fulfill the SE. We show the same also for the widely-used recursive least squares with exponential forgetting controller under a stronger persistence of excitation condition.
This paper explores the impact of the burgeoning electric vehicle (EV) presence on distribution grid operations, highlighting the challenges they present to conventional pricing strategies due to their dual role as po...
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As power electronics technology continues to advance, the prevalence of switching quantity interface circuits has grown in diverse domains, encompassing industrial production and everyday civilian applications. An ana...
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