We consider the event-triggered state estimation of a finite-state hidden Markov model with a general stochastic event-triggering condition. Utilizing the change of probability measure approach and the event-triggered...
详细信息
ISBN:
(纸本)9781479978878
We consider the event-triggered state estimation of a finite-state hidden Markov model with a general stochastic event-triggering condition. Utilizing the change of probability measure approach and the event-triggered measurement information available to the estimator, analytical expressions for the conditional probability distributions of the states are obtained, based on which the minimum mean square error event-based state estimates are further calculated. We show that the results also cover the case of packet dropout, under a special parameterization of the event-triggering conditions. With the results on state estimation, a closed-form expression of the average sensor-to-estimator communication rate is also presented. The effectiveness of the proposed results is illustrated by a numerical example and comparative simulations.
Considering the under-actuated characteristic of the carangiform robotic fish whose forward movement and turning are carried out by its single caudal fin, this paper investigates its shortest path planning problem sub...
详细信息
ISBN:
(纸本)9781479947249
Considering the under-actuated characteristic of the carangiform robotic fish whose forward movement and turning are carried out by its single caudal fin, this paper investigates its shortest path planning problem subjected to the terminal constrains. First, a simplified kinematics model is proposed in view of its locomotion characteristic. With this model, the shortest path planning is transformed into the shortest time optimal control problem and the maximum principle is employed to obtain the necessary condition. Furthermore, based on the analysis on the relationship between the length of all feasible paths and the terminal condition, the sufficient and necessary conditions are derived for the shortest path under any terminal constrains. Finally, a program developed with Matlab verifies the effectiveness of the proposed results.
This paper presents the general structure of wheel-legged robot module and sensory systems. The scheme, interfaces and system components will be presented. Basing on initial experiments the sensor properties and suita...
详细信息
This paper studies the containment and group dispersion control for a multi-robot system in the presence of dynamic leaders. Each robot is represented by a doubleintegrator dynamic model and a distributed control algo...
详细信息
This paper studies the containment and group dispersion control for a multi-robot system in the presence of dynamic leaders. Each robot is represented by a doubleintegrator dynamic model and a distributed control algorithm is developed to drive the multi-robot system to follow a group of dynamic leaders with containment and group dispersion behaviors. The effectiveness of the algorithm is then verified on a multi-robot control platform.
The demand-side energy management of microgrids comprising of buildings of heterogeneous nature (residential, commercial, industrial, etc.) and thus exhibiting heterogeneous occupancy pattern, requires the development...
详细信息
ISBN:
(纸本)9781479917730
The demand-side energy management of microgrids comprising of buildings of heterogeneous nature (residential, commercial, industrial, etc.) and thus exhibiting heterogeneous occupancy pattern, requires the development of appropriate energy management systems (EMSs) that can integrate the maximum exploitation of the distributed energy resources like photovoltaic panels with the thermal comfort of the occupants. This paper presents a simulation-based optimization approach for the design of an EMS in grid-connected photovoltaic-equipped microgrids with heterogeneous buildings and occupancy schedules. The EMS optimizes a multi-objective criterion that takes into account both the energy cost and the thermal comfort of the aggregate microgrid. A three-building microgrid test case is used to demonstrate the effectiveness of the proposed approach: comparisons with alternative rule-based and optimization-based EMSs show that the proposed EMS strategy exploits the occupancy information to automatically change the energy demand of each building, resulting in improved energy cost and thermal comfort.
A recently proposed Bayesian tracking procedure for sensor networks approximates the update equation, which involves non-linear measurements, with a simple equation using the maximum likelihood (ML) estimate of the un...
详细信息
This work proposes a policy iteration procedure for the synthesis of optimal and globally stabilizing control policies for Linear Time Invariant (LTI) Asymptotically Null-controllable with Bounded Inputs (ANCBI) syste...
详细信息
ISBN:
(纸本)9781479917730
This work proposes a policy iteration procedure for the synthesis of optimal and globally stabilizing control policies for Linear Time Invariant (LTI) Asymptotically Null-controllable with Bounded Inputs (ANCBI) systems. This class includes systems with eigenvalues on the imaginary axis (possibly repeated) but no pole with positive real part. The proposed policy iteration relies on a class of piecewise quadratic Lyapunov functions which is non-differentiable, but continuous, and polynomial in both the state and the deadzone functions of the input signals. The second step of the policy iteration is based on a piecewise control policy improvement. An important aspect of the proposed piecewise policy is that at each step of the iteration the computed policy is globally stabilizing and the existence of an improving value function is guaranteed as well. The solution to the inequalities which is required to hold at each step of the policy iteration, is obtained by solving Sum-of-Squares Programs (SOSP) that can be efficiently implemented with semidefinite programming (SDP) solvers.
We propose a generalization of the recently developed system identification method called Sign-Perturbed Sums (SPS). The proposed construction is based on the instrumental variables estimate and, unlike the original S...
详细信息
ISBN:
(纸本)9781479978878
We propose a generalization of the recently developed system identification method called Sign-Perturbed Sums (SPS). The proposed construction is based on the instrumental variables estimate and, unlike the original SPS, it can construct non-asymptotic confidence regions for linear regression models where the regressors contain past values of the output. Hence, it is applicable to ARX systems, as well as systems with feedback. We show that this approach provides regions with exact confidence under weak assumptions, i.e., the true parameter is included in the regions with a (user-chosen) exact probability for any finite sample. The paper also proves the strong consistency of the method and proposes a computationally efficient generalization of the previously proposed ellipsoidal outer-approximation. Finally, the new method is demonstrated through numerical experiments, using both real-world and simulated data.
暂无评论