The variable-structure multiple-model（VSMM）approach,one of the multiple-model（MM）methods,is a popular and effective approach in handling problems with mode *** model sequence set adaptation（MSA）is the key to des...
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The variable-structure multiple-model（VSMM）approach,one of the multiple-model（MM）methods,is a popular and effective approach in handling problems with mode *** model sequence set adaptation（MSA）is the key to design a better ***,MSA methods in the literature have big room to improve both theoretically and *** this end,we propose a feedback structure based entropy approach that could fnd the model sequence sets with the smallest size under certain *** fltered data are fed back in real time and can be used by the minimum entropy（ME）based VSMM algorithms,i.e.,***,the full Markov chains are used to achieve optimal ***,the myopic method together with particle flter（PF）and the challenge match algorithm are also used to achieve sub-optimal solutions,a trade-off between practicability and *** numerical results show that the proposed algorithm provides not only refned model sets but also a good robustness margin and very high accuracy.
This paper introduces an approach to estimate the true states for stochastic Boolean dynamic system(SBDS), where the state evolution is governed by Boolean functions with additive binary process noise while the measur...
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This paper introduces an approach to estimate the true states for stochastic Boolean dynamic system(SBDS), where the state evolution is governed by Boolean functions with additive binary process noise while the measurement is an arbitrary function of the state yet with additive binary measurement *** problem of figuring out the true state using the only available noisy outputs is crucial for practical applications of Boolean dynamic system models, however, for such Boolean systems with wide background, there are no ready-to-use convenient tools like Kalman filter for linear systems. To resolve this challenging problem, an approach based on Bayesian filtering called Boolean Bayesian Filter(BBF) is put forward to estimate the true states of SBDS, and an efficient algorithm is presented for their exact computation. An index to evaluate the filtering performance,named estimation error rate, is put forward in this paper as well. In addition, extensive simulations via actual examples have illustrated the effectiveness of the proposed algorithm based on BBF.
A new kind of nonlinear control law is proposed for the purpose of improving servo platform tracking performance under condition of rapid movement. On the basis of linear ADRC, an arctangent function is selected, and ...
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ISBN:
(纸本)9781479936519
A new kind of nonlinear control law is proposed for the purpose of improving servo platform tracking performance under condition of rapid movement. On the basis of linear ADRC, an arctangent function is selected, and smoothly extended to an anti-S curve. The new method retains the feature of estimating and compensating the internal un-modeled dynamics and external disturbances. Simulation and comparison tests show that system using new control method has faster and more accurate tracking results.
Adaptive systems have been traditionally analyzed using classical second Lyapunov's method and/or passivity theory. These powerful tools permit the establishment of conditions for convergence and stability (asympt...
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ISBN:
(纸本)9781467360890
Adaptive systems have been traditionally analyzed using classical second Lyapunov's method and/or passivity theory. These powerful tools permit the establishment of conditions for convergence and stability (asymptotic and L_2) of adaptive estimators and controllers. A natural, alternative framework to analyze adaptive systems invokes the notion of (flow) contraction, which imposes that some distance between any pair of solutions is monotonically decreasing with time. In this paper we investigate the contraction properties of adaptive systems designed following the principles of immersion and invariance. In particular, we use contraction theory and a recent extension of first Lyapunov's method to give conditions under which adaptive estimators and controllers--designed for nonlinearly parameterized, nonlinear systems--ensure exponential parameter convergence.
This study suggests a moving horizon H8 control scheme for variable speed wind turbines above the rated wind speed to maintain the output power at the rated value for variable operating points. A constrainedH8 control...
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Aiming at the difficulty of weighting matrices design for LQG controller, a data-driven economic performance PSO algorithm is presented in this paper. The method introduces a subspace approach to obtain the process ch...
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ISBN:
(纸本)9781467355339
Aiming at the difficulty of weighting matrices design for LQG controller, a data-driven economic performance PSO algorithm is presented in this paper. The method introduces a subspace approach to obtain the process characteristics and the explicit functional relationship between the manipulation variance and the output variance, which solves the LQG benchmark problem directly. The PSO algorithm based on the results of economic performance assessment subsequently realizes the accurate optimization of the LQG weighting matrices. The proposed approach is illustrated and verified through a simulation example.
This paper describes our preliminary development of a virtual robot teleoperation platform based on hand gesture recognition using visual information. Hand gestures in images captured by a camera are recognised to con...
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ISBN:
(纸本)9781479920747
This paper describes our preliminary development of a virtual robot teleoperation platform based on hand gesture recognition using visual information. Hand gestures in images captured by a camera are recognised to control a virtual iCub. We employ two methods to realise the classification: Adaptive Neuro-fuzzy Inference systems (ANFIS) and Support Vector Machines (SVM). We realise the teleoperation of a virtual robot using iCubSimulator. The technique in the paper will enable us to teleoperate a physical robot in the future work. In addition, a video server is set up to monitor the real robot. By using the parallel system we are able to improve the robot's performance. Based on the techniques presented in this paper, the virtual iCub can perform the specified actions remotely in a natural manner.
In this paper,a novel particle swarm algorithm for solving constrained multiobjective optimization problems is *** new algorithm is able to utilize valuable information from the infeasible region by intentionally keep...
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ISBN:
(纸本)9781479947249
In this paper,a novel particle swarm algorithm for solving constrained multiobjective optimization problems is *** new algorithm is able to utilize valuable information from the infeasible region by intentionally keeping a set of infeasible solutions in each *** enhance the diversity of these preserved infeasible solutions,a modified version of adaptive grid is *** addition,a voting mechanism is designed to balance the preference of infeasible solutions with smaller constraint violation and the exploration of the infeasible *** effectiveness of the proposed method is validated by simulations on several commonly used benchmark *** using the hypervolume indicator,it is shown that the proposed algorithm is more powerful than two other state-of-the-art algorithms.
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