An adaptive distributed differential evolution algorithm is proposed based on the change of the individual's fitness value. Firstly, the initial population is divided into several subpopulations. When the migratio...
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An adaptive distributed differential evolution algorithm is proposed based on the change of the individual's fitness value. Firstly, the initial population is divided into several subpopulations. When the migration condition is satisfied, the best individual in each subpopulation will replace the worst individual of its neighbor subpopulations according to the Von Neumann topology. The migration mechanism among subpopulations enables the information to be communicated in the whole population. Meanwhile, the adaptive mechanism of F and CR is presented for assigning different F and CR to each individual according to the individual's fitness. Numerical results show that, the proposed algorithm is beneficial to explore the solution space, which can avoid the premature convergence and search the excellent solutions.
Tracking law designed for future Mars entry missions is investigated in this article. For precision landing, the nonlinear entry dynamics, complex uncertainties and input saturation constraints are unavoidable problem...
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Tracking law designed for future Mars entry missions is investigated in this article. For precision landing, the nonlinear entry dynamics, complex uncertainties and input saturation constraints are unavoidable problems. Facing these challenges, the Mars entry trajectory tracking scheme via constrained multi-model predictive control (CMPC) is employed. The CMPC is made up of some constrained predictive control (CPC) in different time domain during the Mars entry mission. Each constrained predictive controller consists of a linearized prediction model (obtained by linearizing at different operating point), feedback correction for active model mismatch rejection caused by the complex uncertainties, and constrained rolling optimization for a smooth control input under a saturation constraint. Monte Carlo simulations demonstrate the effectiveness and excellence of the proposed method under the saturation constraint of input and uncertainties of initial state and aerodynamic parameters such as atmospheric density, ballistic coefficient and lift-to-drag ratio.
This paper studies the robust consensus problem for second-order multi-agent systems with nonuniform time-delays and switching topologies in the presence of external disturbances, where each agent has a self-delay and...
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ISBN:
(纸本)9781479938926
This paper studies the robust consensus problem for second-order multi-agent systems with nonuniform time-delays and switching topologies in the presence of external disturbances, where each agent has a self-delay and each delay is independent of each other. A neighbor-based rule is used for the agents with nonuniform time-delays and external disturbances. A sufficient condition is derived under which all agents achieve consensus while satisfying desired H ∞ performance. Finally, the effectiveness of the obtained theoretical results is demonstrated through numerical simulations.
Bat algorithm is a novel swarm intelligent algorithm inspired by the echolocation behavior of bats with varying pulse rates of emission and loudness. In this paper, a new variant which is called adaptive bat algorithm...
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In this paper, the design and development of a Building Energy and Environment Monitoring system (BEEMS) for smart campus applications is proposed. The system is implemented based on distributed sensor nodes using Zig...
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The local/global Lipschitz continuity is always required when considering the stability of the cascaded systems. Different from the exiting methods proposed in the literature,this paper gives a method to deal with non...
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ISBN:
(纸本)9781479900305
The local/global Lipschitz continuity is always required when considering the stability of the cascaded systems. Different from the exiting methods proposed in the literature,this paper gives a method to deal with non-smooth cascaded *** using iISS property,some sufficient conditions for global asymptotic stability of the cascaded systems are derived. Then,based upon this,an interesting result of finite-time stability for cascaded systems is further *** proposed methods are verified by some academic examples.
Multi-variable systems widely exist in the practical engineeringcontrolsystems whose performances are always severely interrupted by strong disturbances including unmodeled dynamics, parameter variations, couplings ...
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Multi-variable systems widely exist in the practical engineeringcontrolsystems whose performances are always severely interrupted by strong disturbances including unmodeled dynamics, parameter variations, couplings and external disturbances. Disturbance observer (DOB) is known as an effective technique to estimate disturbances and has been extensively applied for feed-forward compensation design in the presence of disturbances. Yet many disturbance observer techniques in previous literature are just used for single-input-single-output (SISO) systems or the DOBs can be applied in the multi-variable systems, but the DOBs are still SISO DOBs. A decoupled robust multi-input-multi-output neural network disturbance observer (MNNDOB) is designed for the multi-input-multi-output (MIMO) systems. Simulation results on the mixing tank show that the proposed method has better disturbance estimation performance when there are severe model mismatches compared with the MIMO linear disturbance observer.
To make humanoid robots walking fast, it's important to improve driving force of their leg joints. Usually, each joint of humanoid robots is driven by a single motor. Dual-motor joint, on the other hand, is one of...
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ISBN:
(纸本)9781467355339
To make humanoid robots walking fast, it's important to improve driving force of their leg joints. Usually, each joint of humanoid robots is driven by a single motor. Dual-motor joint, on the other hand, is one of the candidate solutions to meet the power requirement needed for fast walking. This paper proposed a new dual-motor control model. In the model, two motors are treated as a single control plant instead of two parallel control plants. With the usage of current distributor, the control model can pump different current to each motor freely so as to eliminate the unbalance of the load imposed on each motor. Simulation and experiment show that the proposed model works well under high joint load and it can be used on a fast walking humanoid robot.
For overcoming the disadvantages of easily falling into local extremum and easily losing species diversity in traditional particle swarm optimization (PSO) algorithm, a cross improved PSO (IPSO) algorithm is proposed....
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Supervisory control reconfiguration has been paid more attention due to its capacity of handling the uncertainties including resource failures, capability degradation, and task changes in discrete event systems. Howev...
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