This paper investigates the performance of the dual mode, namely flipper mode and central pattern generator(CPG) mode, for controlling the depth of a gliding robotic dolphin. Subsequent to considering the errors in dy...
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This paper investigates the performance of the dual mode, namely flipper mode and central pattern generator(CPG) mode, for controlling the depth of a gliding robotic dolphin. Subsequent to considering the errors in dynamic models, we propose a depth controlsystem that combines the line-of-sight(LOS)method with an adaptive control approach(ACA) to deal with uncertainties in the model parameters. First,we establish a full-state dynamic model to conduct simulations and optimize the parameters used in later aquatic experiments. Then, we use the LOS method to transform the control target from the depth to the pitch angle and employ the ACA to calculate the control signal. In particular, we optimize the ACA’s control parameters using simulations based on our dynamic model. Finally, our simulated and experimental results demonstrate not only that we can successfully control the robotic dolphin’s depth, but also that its performance was better than that of the CPG-based control, thus indicating that we can achieve three-dimensional motion by combining flipper-based and CPG-based control. The results of this study suggest valuable ideas for practical applications of gliding robotic dolphins.
In this paper,the problem of training a recurrent neural network(RNN) controller to approximate an active disturbance rejection control(ADRC) is *** learning methods,online learning and offline learning,are *** the on...
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ISBN:
(数字)9789887581536
ISBN:
(纸本)9781665482561
In this paper,the problem of training a recurrent neural network(RNN) controller to approximate an active disturbance rejection control(ADRC) is *** learning methods,online learning and offline learning,are *** the online setting,the RNN learning controller is trained by the error of the control quantity compared to that of ADRC in real time,while for the offline setting,the RNN controller is trained by the error of the whole state trajectory compared to that of ADRC obtained in *** randomized weight initialization,success rates of trained online and offline RNN learning controllers are compared by ***,the robustness property of the trained RNN controller is analyzed.A metric of robustness,which can be calculated from the weights of the trained RNN controller is also proposed.
Regularized system identification has become the research frontier of system identification in the past *** related core subject is to study the convergence properties of various hyper-parameter estimators as the samp...
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Regularized system identification has become the research frontier of system identification in the past *** related core subject is to study the convergence properties of various hyper-parameter estimators as the sample size goes to *** this paper,we consider one commonly used hyper-parameter estimator,the empirical Bayes(EB).Its convergence in distribution has been studied,and the explicit expression of the covariance matrix of its limiting distribution has been ***,what we are truly interested in are factors contained in the covariance matrix of the EB hyper-parameter estimator,and then,the convergence of its covariance matrix to that of its limiting distribution is *** general,the convergence in distribution of a sequence of random variables does not necessarily guarantee the convergence of its covariance ***,the derivation of such convergence is a necessary complement to our theoretical analysis about factors that influence the convergence properties of the EB hyper-parameter *** this paper,we consider the regularized finite impulse response(FIR)model estimation with deterministic inputs,and show that the covariance matrix of the EB hyper-parameter estimator converges to that of its limiting ***,we run numerical simulations to demonstrate the efficacy of ourtheoretical results.
This paper is concerned with the fuzzy H∞ filter design issue for nonlinear systems with time-varying delay. To overcome the limitations of conventional methods with matched preconditions, the filter to be designed a...
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Cloud-based energy management systems (EMS) in smart grids face privacy challenges, as existing methods based on traditional homomorphic encryption support limited operations and are vulnerable to quantum attacks. We ...
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This paper first proposes an infinite class of 2k-variable Boolean functions with high nonlinearity and high algebraic degree. Then an infinite class of balanced Boolean functions are proposed by modifying the above B...
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This paper first proposes an infinite class of 2k-variable Boolean functions with high nonlinearity and high algebraic degree. Then an infinite class of balanced Boolean functions are proposed by modifying the above Boolean functions. This class of balanced Boolean functions have optimal algebraic degree and high nonlinearity. Both classes have optimal algebraic immunity based on a general combinatorial conjecture.
In order to tackle one of the most difficult tasks in 3D computer vision, range image registration (RIR), this paper proposes a new approach to register two range images of the same object or scenario from different s...
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Previous studies have reported that postural coordination patterns change as a function of translation frequency. However, the effect of inclined support surface on postural strategy was not clear. Therefore, the purp...
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The Permanent Magnet Torque Motor(PMTM)is the key electro-mechanical conversion device in an Electro-Hydraulic Servo Valve(EHSV).In this work,a refined model of a PMTM is developed,considering the non-working air-gaps...
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The Permanent Magnet Torque Motor(PMTM)is the key electro-mechanical conversion device in an Electro-Hydraulic Servo Valve(EHSV).In this work,a refined model of a PMTM is developed,considering the non-working air-gaps between the upper or lower yoke and the armature,the fringing effect at the limiting holes,and the nonlinear permeability of soft magnetic *** on the refined model,the influences of various factors on the calculation accuracy of the magnetic flux at the pole surfaces of the armature and the output torque are *** verifying the validity of the refined model,a Finite Element Analysis(FEA)of the PMTM is conducted,and a test platform is *** with existing models,the refined model can better reveal the intrinsic mechanism of the PMTM,and its calculations are more consistent with the FEA *** experimental results of the armature deflection displacement show that the refined model can accurately describe the output characteristics of the PMTM.
Cooperative behaviors are ubiquitous in nature and human *** is very important to understand the internal mechanism of emergence and maintenance of *** we know now,the offsprings inherit not only the phenotype but als...
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Cooperative behaviors are ubiquitous in nature and human *** is very important to understand the internal mechanism of emergence and maintenance of *** we know now,the offsprings inherit not only the phenotype but also the neighborhood relationship of their *** recent research results show that the interactions among individuals facilitate survival of cooperation through network reciprocity of clustering *** paper aims at introducing an inheritance mechanism of neighborhood relationship to explore the evolution of *** detail,a mathematical model is proposed to characterize the evolutionary process with the above inheritance *** analysis and numerical simulations indicate that high-level cooperation can emerge and be maintained for a wide variety of cost-to-benefit ratios,even if mutation happens during the evolving process.
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