This paper develops a control strategy based on immersion and invariance(I&I) adaptive methodology for a class of multi-input multi-output(MIMO) systems in the presence of parametric uncertainty, input saturation,...
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This paper develops a control strategy based on immersion and invariance(I&I) adaptive methodology for a class of multi-input multi-output(MIMO) systems in the presence of parametric uncertainty, input saturation, and external disturbance. To avoid the analytic calculation in the backstepping process, a highgain auxiliary system is constructed to compensate for the effect of command filter error. The first-order command filters are also employed in the construction procedure of the I&I adaptive law to simplify its design and remove the structural conditions on the regressors. A filter-based disturbance observer is developed to counteract the effect of the external disturbance produced by a partially known exogenous *** overcome the input saturation nonlinearity, a smooth function is introduced to approximate the input saturation with an extended state and a bounding estimation law. Stringent analysis guarantees the stability of closed-loop system. Finally, simulated examples confirm the effectiveness of the suggested method.
Resilient motion planning and control,without prior knowledge of disturbances,are crucial to ensure the safe and robust flight of *** development of a motion planning and control architecture for quadrotors,considerin...
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Resilient motion planning and control,without prior knowledge of disturbances,are crucial to ensure the safe and robust flight of *** development of a motion planning and control architecture for quadrotors,considering both internal and external disturbances(i.e.,motor damages and suspended payloads),is ***,the authors introduce the use of exponential functions to formulate trajectory *** choice is driven by its ability to predict thrust responses with minimal computational ***,a reachability analysis is incorporated for error dynamics resulting from multiple *** analysis sits at the interface between the planner and controller,contributing to the generation of more robust and safe spatial–temporal ***,the authors employ a cascade controller,with the assistance of internal and external loop observers,to further enhance resilience and compensate the *** authors’benchmark experiments demonstrate the effectiveness of the proposed strategy in enhancing flight safety,particularly when confronted with motor damages and payload disturbances.
In this paper,the authors consider the inverse problem for the Moore-Gibson-Thompson equation with a memory term and variable diffusivity,which introduce a sort of delay in the dynamics,producing nonlocal effects in *...
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In this paper,the authors consider the inverse problem for the Moore-Gibson-Thompson equation with a memory term and variable diffusivity,which introduce a sort of delay in the dynamics,producing nonlocal effects in *** H¨older stability of simultaneously determining the spatially varying viscosity coefficient and the source term is obtained by means of the key pointwise Carleman estimate for the Moore-Gibson-Thompson *** the sake of generality in mathematical tools,the analysis of this paper is discussed within the framework of Riemannian geometry.
The maturity of 5G technology has enabled crowd-sensing services to collect multimedia data over wireless network,so it has promoted the applications of crowd-sensing services in different fields,but also brings more ...
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The maturity of 5G technology has enabled crowd-sensing services to collect multimedia data over wireless network,so it has promoted the applications of crowd-sensing services in different fields,but also brings more privacy security challenges,the most commom which is privacy *** a privacy protection technology combining data integrity check and identity anonymity,ring signature is widely used in the field of privacy ***,introducing signature technology leads to additional signature verification *** the scenario of crowd-sensing,the existing signature schemes have low efficiency in multi-signature ***,it is necessary to design an efficient multi-signature verification scheme while ensuring *** this paper,a batch-verifiable signature scheme is proposed based on the crowd-sensing background,which supports the sensing platform to verify the uploaded multiple signature data efficiently,so as to overcoming the defects of the traditional signature scheme in multi-signature *** our proposal,a method for linking homologous data was presented,which was valuable for incentive mechanism and data *** results showed that the proposed scheme has good performance in terms of security and efficiency in crowd-sensing applications with a large number of users and data.
This paper explores the eco-driving problem of parallel hybrid electric vehicles, intended to drive a certain distance within a limited amount of time, where the longitudinal vehicle velocity and powertrain controls a...
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This paper explores the eco-driving problem of parallel hybrid electric vehicles, intended to drive a certain distance within a limited amount of time, where the longitudinal vehicle velocity and powertrain controls are optimized to minimize the fuel consumption. In particular, we incorporate Pontryagin's Minimum Principle (PMP) and singular control theory in an optimization framework to find the fuel-optimal velocity and power-split control policy for the prime mover and the electric machine with global optimality guarantees. In addition, we present reformulations and derivations, so that the same problem can be solved jointly using another framework based on convex optimization, with the same global optimality properties, employing methods originally derived for timeoptimal control of race cars. Thereby, we formally show the equivalence between the eco-driving and the racing problem. We showcase both our frameworks with numerical solutions, drawing three comparisons: First, we solve the velocity and power-split problem, both sequentially and jointly, using the PMP framework. We show that the latter can improve the fuel consumption by 2.6 %. Second, we benchmark the PMP and the convex framework by solving the joint problem with both methods and observe a discrepancy of 0.14% in terms of the resulting fuel energy consumption. Finally, in a numerical study addressing the performance of both methods individually, we observe that the efficiency of the PMP and the convex framework are strongly dependent on the stopping criteria and the discretization step size, respectively. Authors
Coalition formation(CF) refers to reasonably organizing robots and/or humans to form coalitions that can satisfy mission requirements, attracting more and more attention in many fields such as multirobot collaboration...
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Coalition formation(CF) refers to reasonably organizing robots and/or humans to form coalitions that can satisfy mission requirements, attracting more and more attention in many fields such as multirobot collaboration and human-robot collaboration. However, the analysis on CF problems remains *** provide a valuable study reference for researchers interested in CF, this paper proposed a capabilitycentric analysis of the CF problem. The key problem elements of CF are firstly extracted by referencing the concepts of the 5W1H method. That is, objects(who) form coalitions(what) to accomplish missions(why) by aggregating capabilities(how) in a specific environment(where-when). Then, a multi-view analysis of these elements and their correlation in terms of capabilities is proposed through various logic diagrams, structure charts, etc. Finally, to facilitate a deeper understanding of capability-centric CF, a general mathematical model is constructed, demonstrating how the different concepts discussed in this analysis contribute to the overall model.
Recent years have seen a rising interest in distributed optimization problems because of their widespread applications in power grids, multi-robot control, and regression *** the last few decades, many distributed alg...
Recent years have seen a rising interest in distributed optimization problems because of their widespread applications in power grids, multi-robot control, and regression *** the last few decades, many distributed algorithms have been developed for tackling distributed optimization problems. In these algorithms, agents over the network only have access to their own local functions and exchange information with their neighbors.
Shadow removal is crucial for robot and machine vision as the accuracy of object detection is greatly influenced by the uncertainty and ambiguity of the visual scene. In this paper, we introduce a new algorithm for sh...
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This paper discusses the data-driven design of linear quadratic regulators,i.e.,to obtain the regulators directly from experimental data without using the models of *** particular,we aim to improve an existing design ...
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This paper discusses the data-driven design of linear quadratic regulators,i.e.,to obtain the regulators directly from experimental data without using the models of *** particular,we aim to improve an existing design method by reducing the amount of the required experimental *** the data amount leads to the cost reduction of experiments and computation for the data-driven *** present a simplified version of the existing method,where parameters yielding the gain of the regulator are estimated from only part of the data required in the existing *** then show that the data amount required in the presented method is less than half of that in the existing method under certain *** addition,assuming the presence of measurement noise,we analyze the relations between the expectations and variances of the estimated parameters and the *** a result,it is shown that using a larger amount of the experimental data might mitigate the effects of the noise on the estimated *** results are verified by numerical examples.
This study introduces a data-driven approach for state and output feedback control addressing the constrained output regulation problem in unknown linear discrete-time systems. Our method ensures effective tracking pe...
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This study introduces a data-driven approach for state and output feedback control addressing the constrained output regulation problem in unknown linear discrete-time systems. Our method ensures effective tracking performance while satisfying the state and input constraints, even when system matrices are not available. We first establish a sufficient condition necessary for the existence of a solution pair to the regulator equation and propose a data-based approach to obtain the feedforward and feedback control gains for state feedback control using linear programming. Furthermore, we design a refined Luenberger observer to accurately estimate the system state, while keeping the estimation error within a predefined set. By combining output regulation theory, we develop an output feedback control strategy. The stability of the closed-loop system is rigorously proved to be asymptotically stable by further leveraging the concept of λ-contractive sets.
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