The hybrid minimum principle (HMP) gives necessary conditions to be satisfied for optimal solutions of a hybrid dynamical system. In particular, the HMP accounts for autonomous switching between discrete states that o...
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ISBN:
(纸本)9781424477456
The hybrid minimum principle (HMP) gives necessary conditions to be satisfied for optimal solutions of a hybrid dynamical system. In particular, the HMP accounts for autonomous switching between discrete states that occurs whenever the trajectory hits switching manifolds. In this paper, the existing HMP is extended for hybrid systems with partitioned state space to provide necessary conditions for optimal trajectories that pass through an intersection of switching manifolds. This extension is especially useful for the numerical solution of hybrid optimal control problems as it allows for algorithms with significant reduction of computational complexity. Algorithms based on previous versions of the HMP solve separate optimal control problems for each possible sequence of discrete states. The extension enables us to consider the optimal sequence as subject of optimal control that is varied and finally determined during a single optimization run. A first numerical result illustrates the effectiveness of an algorithm based on the extended HMP.
An algorithm for hybrid optimal control is proposed that varies the discrete state sequence based on gradient information during the search for an optimal trajectory. The algorithm is developed for hybrid systems with...
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ISBN:
(纸本)9781424477456
An algorithm for hybrid optimal control is proposed that varies the discrete state sequence based on gradient information during the search for an optimal trajectory. The algorithm is developed for hybrid systems with partitioned state space. It uses a version of the hybrid minimum principle that allows optimal trajectories to pass through intersections of switching manifolds, which enables the algorithm to vary the sequence. Consequently, the combinatorial complexity of former algorithms can be avoided, since not each possible sequence has to be investigated separately anymore. The convergence of the algorithm is proven and a numerical example demonstrates the efficiency of the algorithm.
Compressive sensing is a revolutionary idea proposed recently to achieve much lower sampling rate for signals. In the image application with limited resources the camera data can be stored and processed in compressed ...
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Compressive sensing is a revolutionary idea proposed recently to achieve much lower sampling rate for signals. In the image application with limited resources the camera data can be stored and processed in compressed form. An algorithm for moving object and region detection in video using a compressive sampling is developed. The algorithm estimates motion information of the moving object and regions in the video from the compressive measurements of the current image and background *** algorithm does not perform inverse compressive operation to obtain the actual pixels of the current image nor the estimated background. This leads to a computationally efficient method and a system compared with the existing motion estimation *** experimental results show that the sampling rate can reduce to 25% without sacrificing performance.
This brief paper reports a hybrid algorithm we developed recently to solve the global optimization problems of multimodal functions, by combining the advantages of two powerful population-based metaheuristics differen...
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This brief paper reports a hybrid algorithm we developed recently to solve the global optimization problems of multimodal functions, by combining the advantages of two powerful population-based metaheuristics differential evolution （DE） and particle swarm optimization （PSO）. In the hybrid denoted by DEPSO, each individual in one generation chooses its evolution method, DE or PSO, in a statistical learning way. The choice depends on the relative success ratio of the two methods in a previous learning period. The proposed DEPSO is compared with its PSO and DE parents, two advanced DE variants one of which is suggested by the originators of DE, two advanced PSO variants one of which is acknowledged as a recent standard by PSO community, and also a previous DEPSO. Benchmark tests demonstrate that the DEPSO is more competent for the global optimization of multimodal functions due to its high optimization quality.
The dynamic weapon-target assignment （DWTA） problem is an important issue in the field of military command and control. An asset-based DWTA optimization model was proposed with four kinds of constraints considered, ...
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The dynamic weapon-target assignment （DWTA） problem is an important issue in the field of military command and control. An asset-based DWTA optimization model was proposed with four kinds of constraints considered, including capability constraints, strategy constraints, resource constraints and engagement feasibility constraints. A general ＂virtual＂ representation of decisions was presented to facilitate the generation of feasible decisions. The representation is in essence the permutation of all assignment pairs. A construction procedure converts the permutations into real feasible decisions. In order to solve this problem, three evolutionary decision-making algorithms, including a genetic algorithm and two memetic algorithms, were developed. Experimental results show that the memetic algorithm based on greedy local search can generate obviously better DWTA decisions, especially for large-scale problems, than the genetic algorithm and the memetic algorithm based on steepest local search.
Complete coverage path planning is a key problem for autonomous mobile robot, which concerns both efficiency and completeness of coverage. This paper proposed a novel strategy of combined coverage path planning method...
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We investigate the prisoner＇s dilemma game based on a new rule： players will change their current strategies to opposite strategies with some probability if their neighbours＇ average payoffs are higher than theirs....
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We investigate the prisoner＇s dilemma game based on a new rule： players will change their current strategies to opposite strategies with some probability if their neighbours＇ average payoffs are higher than theirs. Compared with the cases on regular lattices （RL） and Newman-Watts small world network （NW）, cooperation can be best enhanced on the scale-free Barabasi-Albert network （BA）. It is found that cooperators are dispersive on RL network, which is different from previously reported results that cooperators will form large clusters to resist the invasion of defectors. Cooperative behaviours on the BA network are discussed in detail. It is found that large-degree individuals have lower cooperation level and gain higher average payoffs than that of small-degree individuals. In addition, we find that small-degree individuals more frequently change strategies than do large- degree individuals.
In this paper the problem of path following control of autonomous vehicles subject to sliding is addressed. First a kinematic model is built which takes sliding effects into account by introducing two additional tire ...
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Regulators are important components in pneumatic system, and their flow-rate characteristics are the key parameters for designers. According to the correlatively international standard and national standard of China, ...
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Regulators are important components in pneumatic system, and their flow-rate characteristics are the key parameters for designers. According to the correlatively international standard and national standard of China, which describe the flow-rate characteristics measurement method of pneumatic regulators, the pressure and the flow are measured point by point, and then the flow-rate characteristics curve is plotted point to point. This method has some disadvantages, such as equipment complexity, much air consumption, and low efficiency. To settle the problems presented above, this paper puts forward a new high efficient and energy saving flow-rate characteristics measurement method of regulators, which is based on the pressure response when charging and discharging to an isothermal tank without any flow meters. The measurement principle, the system and the steps are introduced. And the tracking differentiator is used for the data processing of the pressure difference. Two typical kinds of regulators were experimentally investigated, and their flow-rate characteristics curves were obtained with the new and the conventional method, respectively. Comparatively, it＇s proved that this new method is feasible because it is not only able to meet the demand of the measurement precision, but also to save energy and improve efficiency. Compared to the conventional method, the new method takes only about 1/10 amount of time and consumes about only 1/30 amount of air. Hopefully it will be able to serve as an international standard of flow-rate characteristics measurement method of regulators.
In this paper, we proposed a susceptible-infected model with variant infection rates because different individuals have different resistance to diseases in different periods of real epidemic events. We consider two ca...
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