检索结果-内蒙古大学图书馆

arXiv 2021年

作者： Lu, Xiangri Ma, Hongbin Zhang, Jingcheng State Key Laboratory of Intelligent Decision and Control for Complex Systems Beijing Institute ofTechnology Beijing China Institute of Pattern Recognition and Intelligent Systems School of Automation Beijing Institute ofTechnology China Institute of Navigation Guidance and Control School of Automation Beijing Institute of

Recent work has shown that the activation function of the convolutional neural network can meet the Lipschitz condition, then the corresponding convolutional neural network structure can be constructed according to the scale of the data set, and the data set can be trained more deeply, more accurately and more effectively. In this article, we have accepted the experimental results and introduced the core block N − Gauss, N − Gauss, and Swish (Conv1, Conv2, FC1) neural network structure design to train MNIST, CIFAR10, and CIFAR100 respectively. Experiments show that N − Gauss gives full play to the main role of nonlinear modeling of activation functions, so that deep convolutional neural networks have hierarchical nonlinear mapping learning capabilities. At the same time, the training ability of N − Gauss on simple one-dimensional channel small data sets is equivalent to the performance of ReLU and Swish. Copyright © 2021, The Authors. All rights reserved.

关键词： Gaussian distribution

来源：评论

学校读者我要写书评

暂无评论

control of Spatially Interconnected systems with Random Communication Losses

引用

Acta Automatica Sinica 2010年第2期36卷 258-266页

作者： Hui LI Qing-He WU Huang HUANG School of Automation Beijing Institute of Technology Beijing 100081 P. R. China Key Laboratory of Complex System Intelligent Control and Decision (Beijing Institute of Technology) Ministry of Education Beijing 100081 P. R. China

This paper deals with analysis and synthesis problems of spatially interconnected systems where communicated information may get lost between subsystems. Spatial shift operator and temporal forward shift operator are introduced to model the interconnected systems as discrete time-space multidimensional linear systems with Markovian jumping parameters which reflect the state of communication channels. To ensure the whole system s well-posedness and mean square stability for a given packet loss rate, a condition is derived through analysis. Then a procedure of designing distributed dynamic output feedback controllers is proposed. The controllers have the same structure as the plants and are solved within the linear matrix inequality (LMI) framework. Finally, we apply these results to study the effect of communication losses on the multiple vehicle platoon control system, which further illustrates the effectiveness of the proposed model and method.

关键词： Spatially interconnected system communication loss Markovian jump linear system linear matrix inequality (LMI)

来源：评论

学校读者我要写书评

暂无评论

A Two-stage ARMAX Identification Approach Based on Bias-eliminated Least Squares and Parameter Relationship between MA Process and Its Inverse

引用

Acta Automatica Sinica 2012年第3期38卷 491-496页

作者： Bin XIN Jie CHEN School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China Decision and Cognitive Sciences Research Centre Manchester Business School University of Manchester M15 6PB Manchester UK

In this paper, a two-stage approach is proposed for the parameter identification of autoregressive moving average with exogenous (ARMAX) variable model. The proposed approach identifies the autoregressive part with exogenous variable (ARX) by a bias-eliminated least squares method, and the moving average (MA) part by utilizing the parameter relationship between MA process and its inverse. Finally, the noise variance can be computed by using the identified MA parameters. Numerical simulations validate the effectiveness of the proposed approach.

关键词： Autoregressive moving average with exogenous (ARMAX) model parameter identification inverse model least-squares method bias compensation

来源：评论

学校读者我要写书评

暂无评论

A Memetic Algorithm for Curvature-Constrained Path Planning of Messenger UAV in Air-Ground Coordination

A Memetic Algorithm for Curvature-Constrained Path Planning ...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： Yulong Ding Bin Xin Hao Zhang Jie Chen School of Automation Beijing Institute of Technology Beijing China Peng Cheng Laboratory Shenzhen China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing China

ISBN: (数字)9781728185262

ISBN: (纸本)9781728185279

This paper addresses a UAV path planning problem for a team of cooperating heterogeneous vehicles composed of one unmanned aerial vehicle (UAV) and multiple unmanned ground vehicles (UGVs). The UGVs are used as mobile actuators and scattered in a large area. To achieve multi-UGV communication and collaboration, the UAV serves as a messenger to fly all UGVs to transmit information. The path planning of messenger UAV is formulated as a Dynamic Dubins Traveling Salesman Problem with Neighborhood (DDTSPN). A novel memetic algorithm is proposed to find the shortest route enabling the UAV to fly over all requested UGVs. In the memetic algorithm, the combination of genetic algorithm and local search is employed to find a high-quality solution in a reasonable time, and a gradient-based repair strategy is used to repair the individuals violating dynamic constraints. The calculation results on both small and large instances show that the proposed method can generate high-quality solutions as compared with the state-of-the-art algorithms.

关键词： Memetics Heuristic algorithms Maintenance engineering Traveling salesman problems Unmanned aerial vehicles Path planning Vehicle dynamics

来源：评论

学校读者我要写书评

暂无评论

Adaptive sliding mode control of electromechanical actuator with improved parameter estimation

Adaptive sliding mode control of electromechanical actuator ...

引用

Asian control Conference

作者： Hao Li Yongqiang Bai Zhong Su School of Automation Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing China Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing Information Science and Technology University Beijing China

An adaptive sliding mode control scheme for electromechanical actuator has been presented. The adaptive control strategy can estimate the uncertain parameters and adaptively compensate the modeled dynamical uncertainties, while the sliding mode control method overcomes the unmodelled dynamics. In the adaptive law an equivalent output injection of the sliding mode observer which contains the parameter estimation error is used, and estimates of parameters can approximate the true values without prediction-error that is typically used in compositive adaptive law. Due to the improved estimation of uncertain parameters, the sliding mode law can robustifies the design against model uncertainties with a small swithcing gain. Stability of the system with the proposed approach has been proved and it has also been shown that the system states can reach the sliding mode in finite time. Finally, the effectiveness of the proposed control scheme has been exhibited via simulation examples.

关键词： Parameter estimation Sliding mode control Actuators Aerodynamics Robustness Adaptive control Uncertainty

来源：评论

学校读者我要写书评

暂无评论

A NSGA-Ⅱ based Peak Load Shifting Optimization Method for Customers with Distributed Generators Considering Time-of-use Price

A NSGA-Ⅱ based Peak Load Shifting Optimization Method for C...

引用

第37届中国控制会议

作者： Hao Zhou Min Ding Bo Hu Qingyi Wang Zhili Tan Danyun li School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System State Grid Energy Research Institute Co. LTD.

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.

关键词： Distributed Generation Demand Respond Time-of-use Price Multi-objective Genetic Algorithm

来源：评论

学校读者我要写书评

暂无评论

Event-based state estimation of discrete-state hidden Markov models

Event-based state estimation of discrete-state hidden Markov...

引用

作者： Shi, Dawei Elliott, Robert J. Chen, Tongwen State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China School of Mathematical Sciences University of Adelaide SA5005 Australia Haskayne School of Business University of Calgary CalgaryAB Canada Department of Electrical and Computer Engineering University of Alberta EdmontonABT6G 1H9 Canada

The state estimation problem for hidden Markov models subject to event-based sensor measurement updates is considered in this work, using the change of probability approach. We assume the measurement updates are transmitted through wired or wireless communication networks. For the scenarios with reliable and unreliable communication channels, analytical expressions for the probability distributions of the states conditioned on all the past point- and set-valued measurement information are obtained. Also, we show that the scenario with a lossy channel, but without the event-trigger, can be treated as a special case of the reliable channel results. Based on these results, closed-form expressions for the estimated communication rates under the original probability measure are presented, which are shown to be the ratio between a weighted 1-norm and the 1-norm of the unnormalized conditional probability distributions of the states under the new probability measures constructed. Implementation issues are discussed, and the effectiveness of the results is illustrated by numerical examples and comparative simulations. © 2015 Elsevier Ltd. All rights reserved.

关键词： Hidden Markov models

来源：评论

学校读者我要写书评

暂无评论

Improving performance of robots using human-inspired approaches: a survey

引用

Science China(Information Sciences) 2022年第12期65卷 5-35页

作者： Hong QIAO Shanlin ZHONG Ziyu CHEN Hongze WANG State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Sciences School of Artifcial Intelligence University of Chinese Academy of Sciences CAS Center for Excellence in Brain Science and Intelligence Technology

Realizing high performance of ordinary robots is one of the core problems in robotic research. Improving the performance of ordinary robots usually relies on the collaborative development of multiple research fields, resulting in high costs and difficulty to complete some high-precision tasks. As a comparison,humans can realize extraordinary overall performance under the condition of limited computational-energy consumption and low absolute precision in sensing and controlling each body unit. Therefore, developing human-inspired robotic systems and algorithms is a promising avenue to improve the performance of robotic systems. In this review, the cutting-edge research work on human-inspired intelligent robots in decisionmaking, cognition, motion control, and system design is summarized from behavior-and neural-inspired aspects. This review aims to provide a significant insight into human-inspired intelligent robots, which may be beneficial for promoting the integration of neuroscience, machinery, and control, so as to develop a new generation of robotic systems.

关键词： human-inspired intelligent robots brain-inspired intelligence decision making visual cognition musculoskeletal robots

来源：评论

学校读者我要写书评

暂无评论

Cooperative output regulation for networked multi-agent systems based on the self-tuning adaptive distributed observer

Cooperative output regulation for networked multi-agent syst...

引用

American control Conference

作者： Yi Dong Jie Chen Jie Huang Department of Automation Nanjing University of Science and Technology China The State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology China Department of Mechanical and Automation Engineering the Chinese University of Hong Kong HK

ISBN: (纸本)9781467386838

In this paper, we first propose a self-tuning adaptive distributed observer for a multi-agent system, which is capable of providing the estimation of the leader's signal to various followers without assuming all the followers know the system matrix of the leader and which avoids calculating the observer gain off-line. We then further develop an adaptive distributed control law to solve the cooperative output regulation problem for linear heterogeneous multi-agent systems. This control law offers two advantages in that it makes the least use of the information of the network and the information of the leader system, and it avoids calculating the observer gain.

关键词： Observers Multi-agent systems Communication networks Closed loop systems Nickel Decentralized control Multi-agent systems Closed loop systems decentralised control networks(communications) Output Regulation Observers Nickel Telecommunications control law Self tuning

来源：评论

学校读者我要写书评

暂无评论

Model Free Adaptive control Algorithm based on ReOSELM for Autonomous Driving Vehicles

Model Free Adaptive Control Algorithm based on ReOSELM for A...

引用

第40届中国控制会议

作者： Xiaofei Zhang Hongbin Ma Zhichao Wang Mingyu Fan Bolin Zhao School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology The College of Computer Science and Artificial Intelligence Wenzhou University

Different road conditions and dynamic environment bring significant challenges to the control system of autonomous driving vehicle（ADV）. As is known, historical data collected from ADV contains valuable information about control systems,therefore, it is a promising thing to study adaptive control algorithms that have certain learning ability. In order to improve the control performance of ADV and the efficiency in data usage, in this paper, a model free adaptive control algorithm based on regularized online sequential extreme learning machine（ReOSELM） is introduced, it is difficult to analyze the algorithm based on neural network, and the system stability by improved update algorithm of ReOSELM is proved. Simulation results indicate that the proposed algorithm is effective in improving control precision when ADV is turning, and experimental results on an autonomous driving vehicle show that this algorithm is effective in real environment.

关键词： data-driven control autonomous driving vehicle model free adaptive control regularized online sequential extreme learning machine

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：