A multi-level feature weighted fusion based image classification method for silicon single crystal growth process has been proposed to address the issue of the long silicon single crystal pulling times at industrial s...
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In practical applications of multi-agent systems, agents are often heterogeneous, and each type of them typically has different task objectives. For heterogeneous multi-agent reinforcement learning (HMARL), the divers...
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Model-predictive control is emerging as an advanced control strategy for its feature that the state variables can be predicted according to the math model of the controlsystem. In the PMSM drive application, conventi...
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Networked controlsystems(NCSs)are facing a great challenge from the limitation of network communication ***-triggered control(ETC)is often used to reduce the amount of communication while still keeping a satisfactory...
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Networked controlsystems(NCSs)are facing a great challenge from the limitation of network communication ***-triggered control(ETC)is often used to reduce the amount of communication while still keeping a satisfactory performance of the system,by transmitting the measurements only when an event-triggered condition is ***,some network-induced problems would happen inevitably,such as communication delay and packet loss,which can degrade the control performance significantly and can even lead to *** this paper,a periodic event-triggered NCS considering both time-varying delay and packet loss is *** system is discretized into a piecewise linear system with *** the model is handled by a polytopic over-approximation method to be more suitable for stability ***,stability conditions are obtained and presented in terms of linear matrix inequalities(LMIs).The result is illustrated by a numerical example.
Tracking dynamic targets poses a significant challenge for Unmanned Ground Vehicles (UGVs). Existing methods often lack research on multi-disturbed conditions. To address this issue, we propose a trajectory-prediction...
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ISBN:
(数字)9798350384574
ISBN:
(纸本)9798350384581
Tracking dynamic targets poses a significant challenge for Unmanned Ground Vehicles (UGVs). Existing methods often lack research on multi-disturbed conditions. To address this issue, we propose a trajectory-prediction-based dynamic tracking scheme, which includes target localization, trajectory prediction, and UGV control. Firstly, an estimation algorithm based on the Extended Kalman Filter (EKF) is employed to mitigate noise and estimate the absolute states of the target accurately. To enhance robustness, we present an Adaptive Trajectory Prediction (ATP) algorithm based on prediction anchors. In this method, a quantization standard for trajectory disturbance is designed for adaptive control. Subsequently, we iteratively solve prediction anchor points based on two motion models to robustly predict the target trajectory even in the presence of unknown disturbances. Finally, the Linear Time-Varying Model Predictive control (LTV-MPC) is utilized in the UGV controller for dynamic tracking. Experimental results demonstrate that the ATP exhibits superior prediction robustness and accuracy in perturbed environments compared to other prediction algorithms. In addition, the proposed scheme effectively achieves dynamic tracking of the Unmanned Aerial Vehicle (UAV) by the UGV under multi-disturbed conditions. Specifically, when the target moves at a speed of 1.0 m/s, the UGV can maintain a tracking error within 0.346 m.
This paper is concerned with the stabilization problem of linear time-invariant systems under Denial-of-Service(DoS)***,system matrices are unknown,and only some input-output trajectories collected from off-line exper...
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ISBN:
(数字)9789887581536
ISBN:
(纸本)9781665482561
This paper is concerned with the stabilization problem of linear time-invariant systems under Denial-of-Service(DoS)***,system matrices are unknown,and only some input-output trajectories collected from off-line experiments are ***,in the model-based case,it has been proven that systems equipped with a predictor-based state feedback controller achieve resilience against DoS ***,this is difficult or even impossible to be implemented in the absence of a system model,thus leading to resilient control challenging in the data-based *** maintain resilience against DoS attacks in the data-based case,a data-driven model predictive control(MPC) scheme is proposed such that future system input-output trajectories can be obtained by solving a data-dependent optimal *** this scheme,a data-driven resilient control strategy is developed such that the system achieves the same level of resilience of the DoS attacks as the model-based ***,a numerical example is given to validate the effectiveness of the proposed method.
In this paper, we present a trajectory generation method of a quadrotor, based on the optimal smoothing B-spline, for tracking a moving target with consideration of relative tracking pattern or limited field of view o...
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In this paper, we present a trajectory generation method of a quadrotor, based on the optimal smoothing B-spline, for tracking a moving target with consideration of relative tracking pattern or limited field of view of the onboard sensor in cluttered environments. Compared to existing methods, safe flying zone,vehicle physical limits, and smoothness are fully considered to guarantee flight safety, kinodynamic feasibility, and tracking performance. To tackle the cluttered environments, a parallel particle swarm optimization algorithm is applied to find the feasible waypoints that the generated trajectory should be as close to as possible, with consideration of the target's future state as well as obstacles to trade off the tracking performance and flight safety. Then, a sequential motion planning method, considering the above constraints, is applied and embedded into a cost function for solving the problem of robust tracking trajectory generation for the quadrotor via a convex optimization approach. The feasibility and effectiveness of the proposed method are verified by numerical simulations.
Path planning is one of the most critical links in mobile robots. Its timeliness, security and accessibility are crucial to the development and wide application of mobile robots. However, in solving the problem of pat...
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In recent years, micromanipulator with dual end-effectors called microhand has been widely used in industrial and biological fields. Whether the tip positions of the two end-effectors of the microhand can be accuratel...
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This article studies the time-varying formation (TVF) problem of multiagent systems (MASs) with different time delays. By designing the control protocol, the followers could achieve the desired TVF. Considering differ...
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