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Analysis of Two Robust Learning Control Schemes in the Presence of Random Iteration-Varying Noise

Analysis of Two Robust Learning Control Schemes in the Prese...

引用

American Control Conference

作者： Deyuan Meng Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781424474264

This paper deals with the design problem of robust iterative learning control (ILC), in the presence of noise that is varying randomly from iteration to iteration. Two ILC schemes are considered: one adopts the previous iteration tracking error (PITE) and the other adopts the current iteration tracking error (CITE), in the updating law. For both schemes, the convergence results are obtained by using a frequency-domain approach, and a comparison between them is presented from the viewpoints of the convergence condition, robustness against plant uncertainty, and delay compensation. It shows that sufficient conditions can be derived to bound the tracking error and make its expectation monotonically convergent in the sense of L_(2)-norm, which work effectively with robustness for all admissible plant uncertainties. Furthermore, the sufficient conditions for both schemes can also be formulated in terms of two complementary functions, which do not depend on the delay time as well as the plant uncertainty and, thus, make them convenient to be checked and solved using the frequency-domain tools. Numerical simulations are included to illustrate the effectiveness of the two proposed ILC schemes.

关键词： Iterative learning control monotonic convergence previous iteration tracking error current iteration tracking error random iteration-varying noise delay compensation delay compensation monotone convergence iterative methods Iterative learning control follow error Scheme design problems Delay time Sufficient conditions learning control

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A New Resampling Algorithm for Generic Particle Filters

A New Resampling Algorithm for Generic Particle Filters

引用

American Control Conference

作者： X. Fu Y. Jia J. Du F. Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781424474264

This paper is devoted to the resampling problem of particle filters. We firstly demonstrate the performance of classical Resampling algorithm (also called as systematic resampling algorithm) using a novel metaphor, through which the existing defects of Resampling algorithm is vividly reflected simultaneously. In order to avoid these defects, the exquisite resampling (ER) algorithm is induced which involves some exquisite actions such as comparing the weights by stages and generating the new particles based on quasi-Monte Carlo method. Simulations indicate that the proposed ER algorithm can reduce the sample impoverishment effectively and improve the accuracy of estimation evidently, which confirm that ER algorithm is a competitive alternative to Resampling algorithm.

关键词： resampling algorithm Particle filters

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Model Matching Control for MIMO systems with Multiple Time Delays and Its Applications in Adaptive Scheme

Model Matching Control for MIMO Systems with Multiple Time D...

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American Control Conference

作者： Haixia Su Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781424474264

This paper considers the model matching problem of multiple-input multiple-output (MIMO) systems with multiple time delays. The reference model is chosen to be the diagonal delay transfer function matrix. A controller is designed for nominal systems. Furthermore, an adaptive control scheme is proposed for uncertain systems with parameter variation. The resulting scheme can guarantee the global stability of the closed-loop systems and the convergence of the tracking errors. A simulation example is included to illustrate the proposed scheme.

关键词： Control system synthesis MIMO Delay effects Programmable control Adaptive control Transfer functions Control systems Uncertain systems Stability Convergence

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L_(2)-L_(infinity) Filter Design for Neutral Stochastic Time-Delay systems

L_(2)-L_(infinity) Filter Design for Neutral Stochastic Time...

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2010 49th IEEE Conference on Decision and Control

作者： Lin Li Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781424477456

This paper is concerned with the problem of L_(2)-L_(infinity) filtering for a class of neutral stochastic systems with both discrete and distributed time-varying delays. The purpose is focusd on the design of a full order filter such that the resulting filtering error system is stochastically asymptotically stable in the mean square with a prescribed L_(2)-L_(infinity) disturbance attenuation level satisfied. By employing Lyapunov functional and stochastic stability theory, a delay-dependent sufficient condition for the existence of such a filter is obtained in terms of linear matrix inequalities (LMIs). The desired filter can be obtained by solving two LMIs.

关键词： Stochastic delay systems Filters mean square filter design stochastic systems error system stability theory Delay systems Filtration

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Non-Fragile Control for Trajectory Tracking of Nonholonomic Mobile Robots

Non-Fragile Control for Trajectory Tracking of Nonholonomic ...

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American Control Conference

作者： Na Ni Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781424474264

This paper is devoted to the non-fragile controller design for the trajectory tracking of nonholonomic mobile robots. Using non-linear state feedback and proper coordinate transformation, the model of nonholonomic mobile robots is exactly linearized. Based on which, the non-fragile controller is designed by employing the linear matrix inequality (LMI) approach. Simulation examples are included to illustrate the effectiveness of the proposed controller.

关键词： Trajectory Mobile robots Control systems Tracking Robot kinematics Orbital robotics State feedback Error correction Sliding mode control Laboratories

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Kalman filtering with multiple nonlinear-linear mixing state constraints

Kalman filtering with multiple nonlinear-linear mixing state...

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IEEE Conference on Decision and Control

作者： X. Fu Y. Jia J. Du F. Yu Seventh Research Division and the Department of Systems and Control Beihang University Beijing China Beihang University Beijing CN Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo Henan China

This paper is devoted to the problem of state estimation for a class of dynamic system with multiple nonlinear-linear (NL) mixing state constraints. A computational algorithm was developed by C. Yang and E. Blasch to incorporate a positive definite quadratic form equality constraint into the Kalman filtering for the ground vehicle tracking. However, when the target tracked in multidimensional space, a single positive definite quadratic form constraint is not enough due to the involvement of other surface such as hyperboloid, paraboloid, or even plane. A analytic method of incorporating multiple nonlinear-linear mixing state constraints into the Kalman filter is presented here, and a sufficient condition is obtained that guarantee the existence of solution. The constraints may be time varying. At each time step the unconstrained Kalman filter solution is projected onto the state constraints surface. This significantly improves the prediction accuracy of the filter. The use of this algorithm is demonstrated on a nonlinear-linear mixing spacecraft positioning problem.

关键词： Kalman filters Symmetric matrices State estimation Optimization Covariance matrix Noise

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Multi-error-correcting amplitude damping codes

Multi-error-correcting amplitude damping codes

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IEEE International Symposium on Information Theory

作者： Runyao Duan Markus Grassl Zhengfeng Ji Bei Zeng State Key Laboratory of Intelligent Technology and Systems Tsinghua National Laboratory for Information Science and Technology Department of Computer Science and Technology Tsinghua University Beijing China Centre for Quantum Computation and Intelligent Systems (QCIS) Faculty of Engineering and Information Technology University of Technology Sydney NSW Australia Centre for Quantum Technologies National University of Singapore Singapore Perimeter Institute of Theoretical Physics Waterloo ONT Canada State Key Laboratory of Computer Science Institute of Software Chinese Academy and Sciences Beijing China Institute for Quantum Computing and the Department of Combinatorics and Optimization University of Waterloo Waterloo ONT Canada

ISBN: (纸本)9781424478903

We construct new families of multi-error-correcting quantum codes for the amplitude damping channel. Our key observation is that, with proper encoding, two uses of the amplitude damping channel simulate a quantum erasure channel. This allows us to use concatenated codes with quantum erasure-correcting codes as outer codes for correcting multiple amplitude damping errors. Our new codes are degenerate stabilizer codes and have parameters which are better than the amplitude damping codes obtained by any previously known construction.

关键词： Damping Quantum mechanics Quantum computing Error correction codes Noise level Laboratories Phase noise Physics computing Intelligent systems computer science

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Investigating Security Threats in Information systems

Investigating Security Threats in Information Systems

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12th International-Business-Information-Management-Association Conference

作者： Samy, Ganthan Narayana Ahmad, Rabiah Ismail, Zuraini Department of Computer Systems and Communications Faculty of Computer Science and Information Systems Universiti Teknologi Malaysia (UTM) Malaysia Centre for Advanced Software Engineering (CASE) Faculty of Computer Science and Information Systems Universiti Teknologi Malaysia (UTM) Malaysia Department of Science College of Science and Technology Universiti Teknologi Malaysia (UTM) Malaysia

ISBN: (纸本)9780982148914

Information security surveys are important inputs to private, public and government sectors in order to measure current status of information security threats. This paper examines the various types of threats that exist in Information systems (IS) in one of government supported hospital in Malaysia. The hospital has been equipped for a Total Hospital Information System (THIS). The data collected were from three different departments using in-depth structured interviews. The study identified 22 types of threats according to major threat categories based on ISO/IEC 27002 (ISO 27799:2008). The result shows that the most critical threat for the THIS is the power failure followed by acts of human error or failure and other technological factors. This research holds significant value in terms of providing a comprehensive list of potential threat categories in IS and subsequently taking the results of this step as input for the risk mitigation strategy. Keywords: Healthcare Information systems (HIS), Information systems (IS), Risk Analysis, Threats

关键词： Healthcare Information systems (HIS) Information systems (IS) Risk Analysis Threats

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Testing requirements for mobile applications

Testing requirements for mobile applications

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2009 24th International Symposium on computer and Information sciences, ISCIS 2009

作者： Dantas, Valéria Lelli Leitão Marinho, Fabiana Gomes Da Costa, Aline Luiza Andrade, Rossana M.C. Group of Computer Networks Software Engineering and Systems - GREat Computer Science Department - DC Federal University of Ceará - UFC Fortaleza - Ceará Brazil

ISBN: (纸本)9781424450237

Wireless networks have contributed to the technological advance that popularized the use of mobile devices, and fostered the development of applications targeted to these devices. However, issues such as mobility and communication intermittency, as well as processing, storage and battery constraints demand changes in the traditional software testing process. This paper aims to present testing requirements that are specific to applications developed for mobile devices. We also show that these requirements can improve productivity and efficacy in the testing process of an application. © 2009 IEEE.

关键词： software testing

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computer aided composition system with interactive selective population climbing

Computer aided composition system with interactive selective...

引用

2009 WRI World Congress on computer science and Information engineering, CSIE 2009

作者： Hasui, Hiroshi Muroran Institute of Technology Department of Computer Science and Systems Engineering Language Processing Laboratory 27-1 Mizumoto-cho Muroran Japan

ISBN: (纸本)9780769535074

I am developing the computer aided composition system. This system aids the person, that know the music theory a little, to compose the receiving sign of cellphone, or background music of home page or software. This system is implemented with the interactive selective population climbing. I guess that it is appropriate to fetch the favorite melody by hill climbing, because it is said that the function about favor in the human can express the proximate single-peak function for acceleration. However, the user's favorite melodies are sometimes changed, as the user's favor becomes clear. Thus, the system selects a real parent from many parents in proportion of these estimation values in order to fetch the favorite melody during keeping variety interactively, whenever the system generates neighbor solutions of the real parent. If the value of neighbor solution is higher than one of the real parent, the system exchanges the neighbor solution from the real parent. The composing model generates the neighbor solutions with randomwalk or most likelihood method in order to change the image of the real parent a little. In the experiment, the melody of 8 measures were composed by estimating about 30 melodies and improving about 20 melodies. I assume that my system can compose the melody by less burden than other systems. © 2008 IEEE.

关键词： Computation theory

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