We propose a novel regression, which is called Twin Support Vector Regression(TSVR) to improve the precision of indoor positioning. Similar as Support Vector Regression(SVR), there are 6 parameters to be identified. H...
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ISBN:
(纸本)9781479937097
We propose a novel regression, which is called Twin Support Vector Regression(TSVR) to improve the precision of indoor positioning. Similar as Support Vector Regression(SVR), there are 6 parameters to be identified. However, compared with SVR, less computation time and approximate performance can be achieved with TSVR. Genetic Algorithm(GA) is used to avoid local optimum in indoor positioning to get proper parameters in TSVR. Experimental example is shown to illustrate the effectiveness of the proposed methods.
Consensus is a fundamental and important problem for cooperative *** paper mainly studies the consensus of networked multi-agent systems with nonlinear couplings via pinning *** adaptive desired weighting consensus pr...
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ISBN:
(纸本)9781479947249
Consensus is a fundamental and important problem for cooperative *** paper mainly studies the consensus of networked multi-agent systems with nonlinear couplings via pinning *** adaptive desired weighting consensus protocol is proposed to control a small fraction of pinned agents for directed ***,an adaptive controller gain average consensus protocol is presented via the selected pinning agents for weighted directed *** conditions for achieving the desired consensus asymptotically are ***,theoretical results are validated via simulations.
Monitoring system of furnace ash fouling is the foundation of the soot-blowing operation on furnace *** furnace exit gas temperature(FEGT) is the key parameter in monitoring system,a new CM-LSSVM-PLS method is propose...
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Monitoring system of furnace ash fouling is the foundation of the soot-blowing operation on furnace *** furnace exit gas temperature(FEGT) is the key parameter in monitoring system,a new CM-LSSVM-PLS method is proposed to predict *** the process of CM-LSSVM-PLS method,considering the characteristics of operational data,c-means(CM) cluster algorithm is used to partition the training data into several different *** are subsequently developed in the individual subsets based on least squares support vector machine(LSSVM).Finally,partial least squares(PLS) algorithm is employed as the combination *** single LSSVM is established to make a comparison with CM-LSSVM-PLS *** proposed model is verified through operation data of a 300 MW generating *** comparison result shows that the new CM-LSSVM-PLS method can predict FEGT accurately while the time consumed in modeling decrease drastically.
There are currently several ways of wireless access to support vehicular communication, including vehicular ad-hoc networks (VANETs) and cellular networks (off-the-shelf 3G and LTE). It is necessary to make a seamless...
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ISBN:
(纸本)9781479944484
There are currently several ways of wireless access to support vehicular communication, including vehicular ad-hoc networks (VANETs) and cellular networks (off-the-shelf 3G and LTE). It is necessary to make a seamless handover decision to guarantee quality of service (QoS) of communications for a vehicle moving in the regions covered by more than one access networks. In this paper, we provide a performance guaranteed optimized handover decision algorithm. With this algorithm, the communication of vehicles can handover through heterogeneous wireless access networks not only to reach overall load balance among all access points, but also to maximize the data rate of the whole networks as well as the vehicles' fairness. In addition, in the process of decision making, the data rate of handover vehicles is estimated. Simulations are performed to demonstrate the efficiency of the proposed algorithm.
This study suggests a moving horizon H8 control scheme for variable speed wind turbines above the rated wind speed to maintain the output power at the rated value for variable operating points. A constrainedH8 control...
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Model predictive control (MPC) has attracted wide attention in process industries with its ability to handle constrained multivariable processes. Computational complexity can become a limiting factor when MPC is appli...
Model predictive control (MPC) has attracted wide attention in process industries with its ability to handle constrained multivariable processes. Computational complexity can become a limiting factor when MPC is applied to large-scale systems with fast sampling times. In this paper, a control scheme known as multi-step robust MPC is presented for polytopic uncertain multi-input systems. Only one or several state feedback laws are optimized at each time interval to reduce computational complexity. A set invariance condition for polytopic uncertain systems is identified and the invariant set is determined by solving a linear matrix inequality (LMI) optimization problem. Based on the set invariance condition, a min-max multi-step robust MPC scheme is proposed. Numerical simulations show the effectiveness of the proposed scheme.
In this paper, a PD controller which uses optical flow to obtain position and velocity feedback is proposed for the autonomous hovering flight control of a nano quadrotor unmanned aerial vehicle (UAV). The nano quadro...
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In this paper, a PD controller which uses optical flow to obtain position and velocity feedback is proposed for the autonomous hovering flight control of a nano quadrotor unmanned aerial vehicle (UAV). The nano quadrotor UAV has a mass less than 100 g and is comparatively much smaller than the micro vehicles utilized in previous research. Due to the limited size and payload ability, a wireless camera is employed as the onboard visual device to obtain the position and translational velocity of the UAV. Experiment results are included to demonstrate the good control performance of the proposed design.
作者：
Li, JiaojieZhang, WeiSu, HoushengYang, YupuDepartment of Automation
Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Department of Measurement and Control Technology
Shanghai Dian Ji University Shanghai China School of Automation
Key Laboratory of Image Information Processing and Intelligent Control (Huazhong University of Science and Technology) Ministry of Education National Key Laboratory of Science and Technology on Multispectral Information Processing Huazhong University of Science and Technology Wuhan China
In this paper, we study the flocking problem of multi-agent systems with obstacle avoidance, in the situation when only a fraction of the agents have information on the obstacles. Obstacles of arbitrary shape are allo...
In this paper, we study the flocking problem of multi-agent systems with obstacle avoidance, in the situation when only a fraction of the agents have information on the obstacles. Obstacles of arbitrary shape are allowed, no matter if their boundary is smooth or non-smooth, and no matter it they are convex or non-convex. A novel geometry representation rule is proposed to transfer obstacles to a dense obstacle-agents lattice structure. Non-convex regions of the obstacles are detected and supplemented using a geometric rule. The uninformed agents can detect a section of the obstacles boundary using only a range position sensor. We prove that with the proposed protocol, uninformed agents which maintain a joint path with any informed agent can avoid obstacles that move uniformly and assemble around a point along with the informed agents. Eventually all the assembled agents reach consensus on their velocity. In the entire flocking process, no distinct pair of agents collide with each other, nor collide with obstacles. The assembled agents are guaranteed not to be lost in any non-convex region of the obstacles within a distance constraint. Numerical simulations demonstrate the flocking algorithm with obstacle avoidance both in 2D and 3D space. The situation when every agent is informed is considered as a special case.
In this paper, the problem for the control of a class of single-input-single-output (SISO) non-affine nonlinear system with non-varnishing disturbance is investigated. A continuous nonlinear feedback structure is util...
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ISBN:
(纸本)9781479932757
In this paper, the problem for the control of a class of single-input-single-output (SISO) non-affine nonlinear system with non-varnishing disturbance is investigated. A continuous nonlinear feedback structure is utilized to tackle with the uncertain dynamics in the system. By taking the time derivative of the origin system, a transformed affine-like form is derived. The first order derivative of control input appears linearly in the augmented dynamics with unknown control direction. Nussbaum-type function is incorporated to estimate the unknown control direction. A revised Lyapunov based analysis is carried out to prove that under some moderate assumptions, the Semi-global Uniformly Ultimately Bounded (SGUUB) tracking result is achieved and all the closed loop signals are bounded. Numerical simulation results are presented to illustrate the performance of the proposed control law.
In this paper a nonlinear attitude tracking control scheme is developed for a small-scaled unmanned helicopter under input constraints. Via the analysis of the properties associated with the helicopter's rotor dyn...
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ISBN:
(纸本)9781479932757
In this paper a nonlinear attitude tracking control scheme is developed for a small-scaled unmanned helicopter under input constraints. Via the analysis of the properties associated with the helicopter's rotor dynamics, the elevator servo input, the aileron servo input, and the rudder servo input are chosen to be the control inputs to be designed. Their constraints in amplitude under hovering flight is taken into account by using the robust bounded terms in the controller design. The asymptotic convergence of the tracking error is guaranteed with the Lyapunov-based stability analysis.
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