The unmanned aerial vehicles (UAVs) are efficient tools for diverse tasks such as electronic reconnaissance, agricultural operations and disaster relief. In the complex three-dimensional (3D) environments, the path pl...
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ISBN:
(数字)9798350368369
ISBN:
(纸本)9798350368376
The unmanned aerial vehicles (UAVs) are efficient tools for diverse tasks such as electronic reconnaissance, agricultural operations and disaster relief. In the complex three-dimensional (3D) environments, the path planning with obstacle avoidance for UAVs is a significant issue for security assurance. In this paper, we construct a comprehensive 3D scenario with obstacles and no-fly zones for dynamic UAV trajectory. Moreover, a novel artificial potential field algorithm coupled with simulated annealing (APF-SA) is proposed to tackle the robust path planning problem. APF-SA modifies the attractive and repulsive potential functions and leverages simulated annealing to escape local minimum and converge to globally optimal solutions. Simulation results demonstrate that the effectiveness of APFSA, enabling efficient autonomous path planning for UAVs with obstacle avoidance.
Memristor crossbar array (MCA) is a computing-in-memory (CIM) module for computational acceleration. However, conventional read-write (R-W) circuits for MCA rely heavily on external components and have shortcoming in ...
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This paper investigates the finite-horizon distributionally robust mixed-integer control (DRMIC) of uncertain linear systems. However, deriving an optimal causal feedback control policy to this DRMIC problem is comput...
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This paper proposes a Risk-Averse Just-In-Time (RAJIT) operation scheme for Ammonia-Hydrogen-based Micro-Grids (AHMGs) to boost electricity-hydrogen-ammonia coupling under uncertainties. First, an off-grid AHMG model ...
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This paper provides preliminary results on performance limitations for a class of discrete time Kleinman controlsystems whose open loop poles lie strictly outside the unit circle. By exploiting the properties of the ...
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This paper provides preliminary results on performance limitations for a class of discrete time Kleinman controlsystems whose open loop poles lie strictly outside the unit circle. By exploiting the properties of the Kleinman controllers and using of Mgebraic Riccati equation (ARE), the relationship between total control energy of Kleinman controlsystems and the minimum energy needed to stabilize the open-loop systems is revealed. The result reflects how the horizon length of Kleinman controllers affects the performance of the closed-loop systems and quantifies how close the performance of Kleinman controlsystems is to the minimum energy.
Interval-valued data and incomplete data are two key problems for failure analysis of thruster experimental data and have been basically solved by the proposed methods in this paper. Firstly, information data acquired...
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Interval-valued data and incomplete data are two key problems for failure analysis of thruster experimental data and have been basically solved by the proposed methods in this paper. Firstly, information data acquired from the simulation and evaluation system formed as intervalvalued informationsystem (IIS) is classified by the interval similarity relation. Then, as an improvement of the classical rough set, a new kind of generalized information entropy called "H'-information entropy" is suggested for the measurement of uncertainty and the classification ability of IIS. There is an innovative information filling technique using the properties of H'-information entropy to replace missing data by some smaller estimation intervals. Finally, an improved method of failure analysis synthesized by the above achievements is presented to classify the thruster experimental data, complete the information, and extract the failure rules. The feasibility and advantage of this method is testified by an actual application of failure analysis, whose performance is evaluated by the quantification of E-condition entropy.
In this paper, we consider the controllability and observability of generalized linear time-varying(LTV) systems whose coefficients are not exactly known. All that is known about these systems is the placement of non-...
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In this paper, we consider the controllability and observability of generalized linear time-varying(LTV) systems whose coefficients are not exactly known. All that is known about these systems is the placement of non-zero entries in their coefficient matrices(A, B). We provide the characterizations in order to judge whether the placements can guarantee the controllability/observability of such LTV systems, regardless of the exact value of each non-zero coefficient. We also present a direct and efficient algorithm with an associated time cost of O (n+m+ν) to verify the conditions of our characterizations, where n and m denote the number of columns of A and B, respectively, and ν is number of non-zero entries in(A, B).
Aiming at the problems of low accuracy and poor robustness that existed in the current hot rolling strip width spread model,an improved strip spread prediction model based on a material forming mechanism and Bayesian ...
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Aiming at the problems of low accuracy and poor robustness that existed in the current hot rolling strip width spread model,an improved strip spread prediction model based on a material forming mechanism and Bayesian optimized adaptive differential evolution algorithm(BADE)was *** first,we improved the original spread mechanism model by adding the weight and bias term to enhance the model robustness based on rolling ***,the BADE algorithm was proposed to optimize the improved spread mechanism *** optimization algorithm is based on a novel adaptive differential evolution algorithm,which can effectively achieve the global optimal ***,the prediction performances of five machine learning algorithms were compared in *** results show that the prediction accuracy of the improved spread model is obviously better than that of the machine learning algorithms,which proves the effectiveness of the proposed method.
This paper investigates a non-Bayesian social learning model, in which each individual updates her beliefs based on private signals as well as her neighbors' beliefs. The private signM is involved in the updating pro...
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This paper investigates a non-Bayesian social learning model, in which each individual updates her beliefs based on private signals as well as her neighbors' beliefs. The private signM is involved in the updating process through Bayes' rule, and the neighbors' beliefs are embodied in through a weighted average form, where the weights are time-varying. The authors prove that agents eventually have correct forecasts for upcoming signals, and all the beliefs of agents reach a consensus. In addition, if there exists no state that is observationally equivalent to the true state from the point of view of all agents, the authors show that the consensus belief of the whole group eventually reflects the true state.
This paper deals with the consensus problem for heterogeneous multi-agent systems. Different from most existing consensus protocols, we consider the consensus seeking of two types of agents, namely, active agents and ...
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This paper deals with the consensus problem for heterogeneous multi-agent systems. Different from most existing consensus protocols, we consider the consensus seeking of two types of agents, namely, active agents and passive agents. The objective is to directly control the active agents such that the states of all the agents would achieve consensus. In order to obtain a computational approach, we subtly introduce an appropriate Markov chain to cast the heterogeneous systems into a unified framework. Such a framework is helpful for tackling the constraints from passive agents. Furthermore, a sufficient and necessary condition is established to guarantee the consensus in heterogeneous multi-agent systems. Finally, simulation results are provided to verify the theoretical analysis and the effectiveness of the proposed protocol.
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