Image ordinal estimation is to predict the ordinal label of a given image, which can be categorized as an ordinal regression problem. Recent methods formulate an ordinal regression problem as a series of binary classi...
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In this paper, the stability of linear systems with sawtooth input delay widely existing in networked systems and predictor-based controller is considered. Under the assumption that there exists an instant where the i...
In this paper, the stability of linear systems with sawtooth input delay widely existing in networked systems and predictor-based controller is considered. Under the assumption that there exists an instant where the input delay is zero, a necessary and sufficient condition is obtained to guarantee the exponential stability of the closed-loop system, that is, the closed-loop system is stable if and only if the matrix A + B K is Hurwitz. Two simulation examples are given to confirm the validity of the obtained results.
The agent routing problem in multi-point dynamic task(ARP-MPDT) is a multi-task routing problem of a mobile agent. In this problem, there are multiple tasks to be carried out in different locations. As time goes on,...
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The agent routing problem in multi-point dynamic task(ARP-MPDT) is a multi-task routing problem of a mobile agent. In this problem, there are multiple tasks to be carried out in different locations. As time goes on, the state of each task will change nonlinearly. The agent must go to the task points in turn to perform the tasks, and the execution time of each task is related to the state of the task point when the agent arrives at the point. ARP-MPDT is a typical NP-hard optimization problem. In this paper, we establish the nonlinear ARP-MPDT model. A multi-model estimation of distribution algorithm(EDA) employing node histogram models(NHM) and edge histogram models(EHM) in probability modeling is used to solve the ARP-MPDT. The selection ratio of NHM and EHM probability models is adjusted adaptively. Finally, performance of the algorithm for solving the ARP-MPDT problem is verified by the computational experiments.
In this study, the problem of designing a stochastic optimal controller for sampled-data systems whose sampling interval is subjected to a certain probability distribution is addressed. To design the controller, the K...
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In this study, the problem of designing a stochastic optimal controller for sampled-data systems whose sampling interval is subjected to a certain probability distribution is addressed. To design the controller, the Kronecker product operation and the Vandermonde matrix were introduced. A design method of the stochastic optimal controller is proposed. It is shown that the controller guarantee that the closed-loop system has exponentially mean square stability. Finally, the simulation results illustrate the effectiveness and practicability of the proposed method.
In practical problems, the dynamic systems are usually nonlinear. In this case, the traditional Kalman filter cannot be used for state estimation or fault detection. The two typical extension based on Kalman filtering...
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In practical problems, the dynamic systems are usually nonlinear. In this case, the traditional Kalman filter cannot be used for state estimation or fault detection. The two typical extension based on Kalman filtering framework is the Extended Kalman Filter(EKF) and the Unscented Kalman Filter(UKF). Theoretically speaking, UKF is better than EKF when estimation accuracy is concerned, especially for high degree nonlinear cases. This paper is concerned with the state estimation and fault detection problem for a class of nonlinear dynamic systems. A novel fault detection and analyse method is presented based on the period residual of EKF and UKF. For different kind of faults, mainly, the system parameter error, the sensor/data error, EKF and UKF are used, and the estimation and fault detection effects are compared and analyzed.
This paper presents an air-ground coordinated system made up of an Unmanned Aerial Vehicle(UAV) and an Unmanned Ground Vehicle(UGV).The movement of UGV is totally controlled by UAV and multiple sensors are adopted in ...
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ISBN:
(纸本)9781538631089;9781538631072
This paper presents an air-ground coordinated system made up of an Unmanned Aerial Vehicle(UAV) and an Unmanned Ground Vehicle(UGV).The movement of UGV is totally controlled by UAV and multiple sensors are adopted in the system to ensure the stability.A novel neutral network algorithm is introduced to identify the location and orientation of *** component is introduced and tested in detail and the coordinated system performs a satisfying result.
In this paper, an effective guidance scheme and a control scheme are proposed to realize trajectory tracking of hypersonic reentry vehicle(HRV) subject to aileron stuck in some position. The overload is adopted as vir...
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In this paper, an effective guidance scheme and a control scheme are proposed to realize trajectory tracking of hypersonic reentry vehicle(HRV) subject to aileron stuck in some position. The overload is adopted as virtual control instead of lift and lateral force, then guidance order can be obtained by torque coefficient function. In attitude subsystem, attack of angle and sideslip angle are controlled to track guidance order. Time-varying sliding mode control method is adopted to design guidance law and attitude controller. Besides, a RBF observer is designed to estimate the unknown external disturbance to soften the chattering caused by TVSMC. Simulations verify the proposed schemes.
With the extensive use of distributed generation, the traditional demand response analysis cannot meet the current *** paper proposes a NSGA-II based peak load shifting optimization method for customers with distribut...
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With the extensive use of distributed generation, the traditional demand response analysis cannot meet the current *** paper proposes a NSGA-II based peak load shifting optimization method for customers with distributed generators considering time-of-use price. Firstly, a fuzzy classification method divides the daily power into three time segments,peak hours, flat hours and valley hours. Secondly, on the basis of the time-of-use price, a peak load shifting optimization model is built with constraints and the objectives of minimizing the peak load, maximizing the valley load, and minimizing the peakvalley difference. Then, a NSGA-II based optimization method solves the optimal model and obtains the optimal electricity prices of different time segments to shift the peak load and the valley load. Finally, the simulation results shows the effectiveness of the proposed method.
For the purpose of enhancing compliance of robot joint,an impedance control strategy with new inner torque controller is *** inertia of the motor can be scaled down thanks to this new type of torque *** of different p...
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ISBN:
(纸本)9781538629185
For the purpose of enhancing compliance of robot joint,an impedance control strategy with new inner torque controller is *** inertia of the motor can be scaled down thanks to this new type of torque *** of different position(motor-side position 9 and link-side position q) feedback strategies are explored through theoretical deviation,simulation and static stiffness *** expressions of static stiffness under both position feedback strategies are obtained with validity verified by Simulink *** with 9 feedback strategy,static stiffness can exceed spring stiffness under q feedback strategy with high desired stiffness,which means wider variation range of static stiffness and this benefits robot applications that require wider variation range of impedance,such as rehabilitation robots and collaborative ***,several experiments with the compliant joint prototype verify the developed controllers and show the efficiency of the proposed control approach in terms of compliant behavior.
The assessment of aircraft damage is a key technology in modern flight missions. For a kind of ultra low altitude aircraft, simulation study of the damage caused by the prefabricated fragments is carried out, which is...
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