检索结果-内蒙古大学图书馆

Inner Approximations of Consistent Parameter Sets by Constraint Inversion and Mixed-Integer Programming

IFAC Proceedings Volumes 2013年第31期46卷 321-326页

作者： Stefan Streif Nadine Strobel Rolf Findeisen Institute for Automation Engineering Department for Systems Theory and Automatic Control Otto-von-Guericke University Magdeburg Germany

Mathematical modeling has become an indispensable tool in the analysis, prediction and control of chemical and biological systems. However, the estimation of consistent model parametrizations and model invalidation are challenging tasks, but crucial for reliable model-based analysis and prediction. Set-based estimation methods are useful to determine guaranteed outer approximations of consistent parameter sets, i. e. consistent parametrizations are never excluded. However, these conservative outer approximating sets often include inconsistent parametrizations which lead to inconsistent models and hence possibly wrong model-based predictions. This paper proposes a set-based framework to determine inner approximations, i.e. the model is guaranteed consistent with measurement data for all parametrizations from this set. Our approach is based on the reformulation and inversion of measurement data constraints and by imposing nonlinear constraints on binary variables. The relaxation of the mixed-integer nonlinear feasibility problem into a mixed-integer linear feasibility problem allows the inner approximations to be determined efficiently. The applicability of this approach is demonstrated considering a nonlinear biochemical reaction network.

关键词： Estimation Model verification Dynamic modeling Convex optimization

来源：评论

学校读者我要写书评

暂无评论

Tube MPC scheme based on robust control invariant set with application to Lipschitz nonlinear systems

引用

Systems & control Letters 2013年第2期62卷 194-200页

作者： Shuyou Yu Christoph Maier Hong Chen Frank Allgöwer Department of Control Science and Engineering Jilin University PR China Institute for Systems Theory and Automatic Control University of Stuttgart Germany State Key Laboratory of Automotive Simulation and Control Jilin University PR China

The paper presents a tube model predictive control (MPC) scheme of continuous-time nonlinear systems based on robust control invariant sets with respect to unknown but bounded disturbances. The cost functional of the optimization problem is not necessarily quadratic. The scheme has the same online computational burden as the standard MPC with guaranteed nominal stability. Robust stability, as well as recursive feasibility, is guaranteed if the optimization problem is feasible at the initial time instant. In particular, we consider a scheme to obtain robust control invariant sets for a class of Lipschitz nonlinear systems, and to show the effectiveness of the proposed schemes by a simple example.

关键词： Robust model predictive control Robust invariant set Bounded disturbances Lipschitz nonlinear systems

来源：评论

学校读者我要写书评

暂无评论

Design of a new multifunctional wheelchair-bed

Design of a new multifunctional wheelchair-bed

引用

World Congress on Medical Physics and Biomedical engineering

作者： Li, Feng Zhang, Chunqiu Liu, Haiying Gao, Lilan Ye, Jinduo Xin, Dong Institute of Mechanical Engineering Tianjin University of Technology Tianjin Key Laboratory for Control Theory and Applications in Complicated Industry Systems Tianjin China Department of Mechanics College of Mechanical Science and Engineering Jilin University Changchun 130022 China

ISBN: (纸本)9783642293047

Currently, the aging of the population has become the world's social problems. The increasing aging population and lots of disability, paralysis makes nursing care more difficult. Because of many elderly can not get timely care, the phenomenon that the elderly have chronic diseases has become more and more serious. It is important to research and develop new product which can help the elderly and the disabled for improving the quality of their life. This paper suggested a new type of multifunctional self-caring wheelchair-bed, which is combined with a wheelchair and a bed. The bed can realize the free conversion among user sitting, leg lifting and lie down, and also can implement the function of turning on sides. Particularly, the wheelchair can be easily separated from the bed and combined, so that patients and the elderly can move freely using it, and even it can be transformed into a standing type to satisfy the patient's standing demand, and to a certain extent, carry out the purpose of rehabilitation. © 2013 Springer-Verlag.

关键词： Wheelchairs

来源：评论

学校读者我要写书评

暂无评论

Constrained stabilization of periodic discrete-time systems via periodic Lyapunov functions

引用

IFAC Proceedings Volumes 2013年第12期46卷 17-22页

作者： Nikolaos Athanasopoulos Mircea Lazar Christoph Böhm Frank Allgöwer Department of Electrical Engineering Eindhoven University of Technology The Netherlands Institute of Systems Theory and Automatic Control University of Stuttgart Germany

This article considers the problem of constrained stabilization of periodically time-varying discrete-time systems, or shortly, periodic systems. A modification of a recent result on periodic Lyapunov functions, which are required to decrease at every period rather than at every time instant, is exploited to obtain a new stabilizing controller synthesis method for periodic systems. We demonstrate that for the relevant class of linear periodic systems subject to polytopic state and input constraints, the developed synthesis method is advantageous compared to the standard Lyapunov synthesis method. An illustrative example demonstrates the effectiveness of the proposed method.

关键词： Periodic systems periodic control laws constrained control Lyapunov methods

来源：评论

学校读者我要写书评

暂无评论

A cultural Artificial Fish-swarm Algorithm for optimization

引用

ICIC Express Letters, Part B: Applications 2013年第1期4卷 231-236页

作者： Gao, Xiao-Zhi Wu, Ying Wang, Xiaolei Zenger, Kai Huang, Xianlin College of Information Engineering Shanghai Maritime University No. 1550 Pudong Avenue Shanghai 200135 China Department of Automation and Systems Technology School of Electrical Engineering Aalto University 00076 Aalto Finland Center for Control Theory and Guidance Technology Harbin Institute of Technology No. 92 West Dazhi Street Nangang District Harbin 150001 China

A new knowledge-based Artificial Fish-swarm Algorithm (AFA) with crossover operator, namely CAFAC, is proposed to combat with the blind search of the original AFA. The crossover operator is explored, and the normative and the situational knowledge in the Cultural Algorithm (CA) are utilized to direct the step size as well as direction of the AFA evolution. A total of 15 high-dimensional and multi-peak functions and two typical constrained engineering benchmark problems are employed to investigate the proposed algorithm. Simulation results demonstrate that the CAFAC can yield a superior optimization performance and has a better global search ability than the AFA in dealing with both unconstrained and constrained optimization problems. © 2013.

关键词： Knowledge based systems

来源：评论

学校读者我要写书评

暂无评论

Model-based remaining driving range prediction in electric vehicles by using particle filtering and Markov chains

Model-based remaining driving range prediction in electric v...

引用

World Electric Vehicle Symposium and Exhibition (EVS27)

作者： Javier A. Oliva Christoph Weihrauch Torsten Bertram Institute of Control Theory and Systems Engineering Technische Universität Dortmund Dortmund Germany

The remaining driving range (RDR) has been identified as one of the main obstacles for the success of electric vehicles. Offering the driver accurate information about the RDR reduces the range anxiety and increases the acceptance of electric vehicles. The RDR is a random variable that depends not only on deterministic factors like the vehicle's weight or the battery's capacity, but on stochastic factors such as the driving style or the traffic situation. A reliable RDR prediction algorithm must account the inherent uncertainty given by these factors. This paper introduces a model-based approach for predicting the RDR by combining a particle filter with Markov chains. The predicted RDR is represented as a probability distribution which is approximated by a set of weighted particles. Detailed models of the battery, the electric powertrain and the vehicle dynamics are implemented in order to test the prediction algorithm. The prediction is illustrated by means of simulation based experiments for different driving situations and an established prognostic metric is used to evaluate its accuracy. The presented approach aims to provide initial steps towards a solution for generating reliable information regarding the RDR which can be used by driving assistance systems in electric vehicles.

关键词： Batteries Computational modeling Mathematical model Predictive models Integrated circuit modeling Electric vehicles

来源：评论

学校读者我要写书评

暂无评论

Semantic classification of scenes and places with omnidirectional vision

Semantic classification of scenes and places with omnidirect...

引用

European Conference on Mobile Robots (ECMR)

作者： Luis Felipe Posada Krishna Kumar Narayanan Frank Hoffmann Torsten Bertram Institute of Control Theory and Systems Engineering Technische Universität Dortmund Dortmund Germany

This paper presents a novel approach for semantic classification of scenes and places with omnidirectional images. The objective of scene classification is to segment and classify different regions in the image whereas place recognition assigns a single category to the entire image. In scene classification image regions are classified into categories floor, vertical planar surfaces and isolated objects e.g. furniture. The semantic segmentation extracts multiple heterogeneous visual features at the superpixel-level that are labeled by randomized decision trees. The place recognition relies on a global image representation (GIST) and two local densely extracted shape and appearance representations(HOG, dense SIFT). A support vector machine predicts place categories such as room, corridor, doorway and open space from these visual features.

关键词： Semantics Image segmentation Vegetation Histograms Kernel Accuracy Feature extraction

来源：评论

学校读者我要写书评

暂无评论

Active covariance matrix adaptation for multi-objective CMA-ES

Active covariance matrix adaptation for multi-objective CMA-...

引用

International Workshop on Advanced Computational Intelligence (IWACI)

作者： Christoph Krimpmann Jan Braun Frank Hoffmann Torsten Bertram Institute of Control Theory and Systems Engineering Technische Universität Dortmund Dortmund Germany

This paper proposes a novel approach for a derandomized covariance matrix adaptation for multi-objective optimization. Common derandomized multi-objective algorithms only utilize the information gained from successful mutations. However in case of optimization problems with a limited budget for fitness evaluations inferior mutations provide additional information to adjust the search. The proposed algorithm, called active-(μ+λ)-MO-CMA-ES, extends previous approaches as it reduces the covariance along directions of unsuccessful mutations. In experiments on a set of commonly accepted multi-objective test problems the presented algorithm outperforms other derandomized evolution strategies.

关键词： Evolutionary computation

来源：评论

学校读者我要写书评

暂无评论

Variable proportional-integral-resonant (PIR) control of actuators with harmonic disturbances

Variable proportional-integral-resonant (PIR) control of act...

引用

International Conference on Mechatronics (ICM)

作者： Michael Ruderman Torsten Bertram Institute of Control Theory and Systems Engineering Technische Universität Dortmund Dortmund Germany

Harmonic disturbances in servo applications, in particular rotating actuators, are common and lead to a non-smooth motion with ripples. A novel variable proportional-integral-resonant (PIR) control which combines a PI and PR regulation is proposed. The main PIR control feature is its ability to track both dc and ac quantities at the same time. The design and analysis of the closed control loop are performed in frequency-domain via the open loop characteristics. The control gain boundaries due to the time delays are addressed. The experimental evaluation of compensating two first harmonics at different reference velocities discloses the variable PIR control as superior in comparison to the underlying optimal PI one.

关键词： Harmonic analysis Frequency control Actuators Steady-state Resonant frequency Delay effects Pi control

来源：评论

学校读者我要写书评

暂无评论

An improved algorithm for combinatorial multi-parametric quadratic programming

An improved algorithm for combinatorial multi-parametric qua...

引用

作者： Feller, Christian Johansen, Tor Arne Olaru, Sorin Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 70550 Stuttgart Germany Department of Engineering Cybernetics NTNU O.S. Bragstads plass 2D 7491 Trondheim Norway -Automatic Control Department 3 rue Joliot-Curie 91192 Gif-Sur-Yvette France

The goal of multi-parametric quadratic programming (mpQP) is to compute analytic solutions to parameter-dependent constrained optimization problems, e.g., in the context of explicit linear MPC. We propose an improved combinatorial mpQP algorithm that is based on implicit enumeration of all possible optimal active sets and a simple saturation matrix pruning criterion which uses geometric properties of the constraint polyhedron for excluding infeasible candidate active sets. In addition, techniques are presented that allow to reduce the complexity of the discussed algorithm in the presence of symmetric problem constraints. Performance improvements are discussed for two example problems from the area of explicit linear MPC. © 2013 Elsevier Ltd. All rights reserved.

关键词： Quadratic programming

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：