In this paper, an H ∞ optimal tracking control scheme based on generalized Hamilton-Jacobi-Isaacs (GHJI) equation is developed for discrete-time (DT) affine nonlinear systems. First, via system transformation, the op...
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In this paper, we aim to solve an infinite-time optimal tracking control problem for a class of discrete-time nonlinear systems using iterative adaptive dynamic programming (ADP) algorithm. When the iterative tracking...
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In this paper, a novel adaptive dynamic programming algorithm based on policy iteration is developed to solve online multi-player non-zero-sum differential game for continuoustime nonlinear systems. This algorithm is ...
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This paper develops an observer-based direct adaptive output feedback control for a class of multi-input-multi-out nonaffine nonlinear discrete-time systems with unknown bounded disturbances. A neural network (NN) obs...
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In this paper, we develop a model-free integral policy iteration algorithm to learn online the Nash equilibrium solution of twoplayer zero-sum differential games with completely unknown nonlinear continuous-time dynam...
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Road region detection is a crucial functionality for road following in advanced driver assistance systems(ADAS).To address the problem of environment interference in road segmentation through a monocular vision approa...
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Road region detection is a crucial functionality for road following in advanced driver assistance systems(ADAS).To address the problem of environment interference in road segmentation through a monocular vision approach,a novel graph-cut based method is proposed in this *** novelty of this proposal is that weights of neighboring links(n-links) in a s-t graph are estimated by Multilayer Perceptrons(MLPs) rather than calculating by the neighboring contrast simply in previous graph-cut based *** n-link weights by MLPs reinforces the ability of graph-cut based road segmentation algorithms to tolerate the complex and changeable appearance of road ***,the Gentle Ada Boost algorithm is integrated into the graph-cut framework to estimate the terminal link(t-link) weights in the s-t *** are conducted to show the robustness and efficiency of the proposed method.
In this paper, containment control for continuous-time multi-agent systems with multiple interacting leaders is investigated. According to the role each agent plays in the multi-agent team, the agents are classified i...
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ISBN:
(纸本)9781479900305
In this paper, containment control for continuous-time multi-agent systems with multiple interacting leaders is investigated. According to the role each agent plays in the multi-agent team, the agents are classified into two categories: leaders and followers. The containment control problem in this paper is that the leaders converge to a desired formation and the followers move into the convex hull spanned by the leaders’ final positions. A sufficient condition for containment control is that the union of the interaction graphs has a spanning tree frequently enough as the system evolves. It is shown that the followers’ positions in the convex hull are dynamic due to the switching topology. The theoretical results are illustrated by some simulations.
The recently increased interests in visual measurement and control applied to underwater robots have challenged the existing visual technologies that once were sufficient in ground-based applications. This paper surve...
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ISBN:
(纸本)9781467355339
The recently increased interests in visual measurement and control applied to underwater robots have challenged the existing visual technologies that once were sufficient in ground-based applications. This paper surveys the major difficulties and representative applications in underwater visual measurement and control, most of which result from the particularity of the aquatic environments. Specifically, the state of the art of the underwater vision is summarized from different perspectives, primarily involving key points and existing problems. In particular, the application of the embedded vision-based system in the context of bionics is accented. Finally, the potential development trends and possible breakthroughs are discussed, shedding light on the effort both in hardware and software to advance real-world underwater vision applications.
The leader-following problem of first-order integral multi-agent systems with communication noises is investigated in this paper. To attenuate the noise's effect, a positive time-varying gain a(t) is employed in t...
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ISBN:
(纸本)9781467355339
The leader-following problem of first-order integral multi-agent systems with communication noises is investigated in this paper. To attenuate the noise's effect, a positive time-varying gain a(t) is employed in the protocol. It is proved that the proposed protocol can solve the mean square leader-following problem if the following conditions hold: 1) the communication topology graph has a spanning tree;2) ∫∞0 a(t)dt = ∞;3) lim t→∞ a(t) = 0. The requirements on a(t) are different from most existing papers, where a(t) is required to satisfy that ∫∞0 a(t) = ∞ and ∫∞0 a2(t) < ∞. It turns out that ∫∞0 a2(t) < ∞ implies lim t→∞ a(t) = 0, if a(t) is uniformly continuous. Therefore this paper relaxes the requirements on a(t) to some extent. In addition, under the mild condition (a(t) is uniformly continuous) these three conditions are necessary as well. Furthermore, if ∫∞0 a2(t)<∞, the employed protocol is proved to be able to solve the almost sure leader-following problem of first-order integral multi-agent system. Finally, a simulation example is provided to verify the effectiveness of the employed protocols.
Based on the point of view of neuroethology and cognition-psychology, general frame of theory for intelligentsystems is presented by means of principle of relative entropy minimizing in this paper. Cream of the gener...
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ISBN:
(纸本)1601322488
Based on the point of view of neuroethology and cognition-psychology, general frame of theory for intelligentsystems is presented by means of principle of relative entropy minimizing in this paper. Cream of the general frame of theory is to present and to prove basic principle of intelligentsystems: entropy increases or decreases together with intelligence in the intelligentsystems. The basic principle is of momentous theoretical significance and practical significance. From the basic principle can not only derive two kind of learning algorithms (statistical simulating annealing algorithms and annealing algorithms of mean-field theory approximation) for training large kinds of stochastic neural networks, but also can thoroughly dispel misgivings created by second law of thermodynamics on peoples psychology, hence make one be fully confident of facing life. Because of Human society, natural world, and even universe all are intelligentsystems.
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