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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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Observer-Based L_(2)-L_(infinity) control for a Class of Stochastic Systems with Time-Varying Delay

Observer-Based L_(2)-L_(infinity) Control for a Class of Sto...

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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 devoted to the problem of L_(2)-L_(infinity) control for a class of stochastic time-delay systems via observer-based feedback control. The considered observer contains no time-delay. The purpose is to design an observer-based feedback stabilizing controller such that the augmented closed-loop system is stochastically asymptotically stable with a prescribed L_(2)-L_(infinity) performance satisfied. Based on the stochastic stability theory, a delay-dependent sufficient condition is derived in terms of linear matrix inequalities (LMIs). The observer and controller design method is proposed, while the corresponding explicit expression for the observer and controller gain matrices is also given. Finally, numerical examples and simulation results are included to illustrate the effectiveness of the proposed results.

关键词： stochastic systems system clock time varying stability theory Stochastic delay systems controller gain Closed loop systems

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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

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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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...

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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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Non-Fragile control for Trajectory Tracking of Nonholonomic Mobile Robots

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

引用

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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Determination of circular waits in multiple-reentrant flowlines based on machine-job incidence matrix 10

Determination of circular waits in multiple-reentrant flowli...

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2009 10th European control Conference, ECC 2009

作者： Petrovic, Tamara Bogdan, Stjepan Sindicic, Ivica Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering University of Zagreb Zagreb Croatia Exor D.o.o Bani 72 Zagreb10000 Croatia

ISBN: (纸本)9783952417393

As the first step in resolving stability of a manufacturing system in the sense of deadlock, calculation of circular waits might involve time and memory consuming calculations. In this paper we propose an efficient method for determination of circular waits in multiple-reentrant flowline class (MRF) of manufacturing systems. We introduce machine-job incidence (MJI) matrix that can be obtained from Steward sequencing matrix and Kusiak machine-part incidence matrix. The method uses index vector and MJI matrix in order to allocate circular wait auxiliary vector. Resources involved in the circular wait are directly computed from the auxiliary vector. Although efficiency of the proposed method has been demonstrated on examples involving single- and multi- part type manufacturing workcells, the method can be used for other discrete event systems as well, as long as the system under study belongs to MRF class. © 2009 EUCA.

关键词： Manufacture

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Kinematics and its solution methodology of A 3-PRR flexure-based parallel mechanism

Kinematics and its solution methodology of A 3-PRR flexure-b...

引用

IASTED International Conference on Modelling, Simulation, and Identification, MSI 2009

作者： Tian, Y. Shirinzadeh, B. Zhang, D. Fatikow, S. Robotics and Mechatronics Research Laboratory Department of Mechanical and Aerospace Engineering Monash University Clayton VIC 3800 Australia School of Mechanical Engineering Tianjin University Tianjin 300072 China Division of Microrobotics and Control Engineering University of Oldenburg Oldenburg 26111 Germany

ISBN: (纸本)9780889868106

This paper presents the mechanical design and kinematic analysis methodologies of a 3-PRR flexure-based parallel mechanism, which can be utilized to conduct planar precision positioning as required for automating micro/ nano manipulation tasks. Flexure hinges are used as the revolute joints to provide smooth motion in the range of micrometers. Three high performance piezoelectric actuators are utilized to drive the flexure-based mechanism. The kinematics of the proposed flexure-based parallel mechanism is established. Finite element analysis is conducted to validate the performance of the 3-PRR flexure-based parallel mechanism. Two simplified methodologies are proposed to improve the computational efficiency of the kinematics of the developed mechanism.

关键词： Kinematics

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Fuzzy controller for cooperative object pushing with variable line contact

Fuzzy controller for cooperative object pushing with variabl...

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International Conference on Mechatronics (ICM)

作者： Mahsa Aliakbar Golkar Sarah Taghavi Namin Hossein Aminaiee Control and Intelligent Processing Center of Excellence Robotics and AI Laboratory Department of Electrical and Computer Engineering University of Tehran Iran

Designing an appropriate cooperation protocol in multi-robot systems such as multi-robot object manipulation systems is a challenging task. In this paper designing and implementing a cooperation protocol between two robots pushing an object toward an arbitrary goal configuration is investigated. The proposed method benefits from task decoupling which simplifies the cooperation protocol design. Each robot gets its proper action from a particular fuzzy inference system independently. The fuzzy controllers outputs are low-level robot commands by which the need to a robot path planning algorithm is eliminated. Simulation results show that robots could push the object to the goal configuration cooperatively. Experiments have been conducted to approve the proposed system.

关键词： Fuzzy control Robot kinematics Protocols Fuzzy systems Electric variables control control systems Multirobot systems Path planning Inference algorithms Mobile robots

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