检索结果-内蒙古大学图书馆

A Robust State Estimator for Multi-Agent systems Under Impulsive Noise and Missing Measurements

学校读者我要写书评

暂无评论

A Robust State Estimator for Multi-Agent Systems Under Impul...

IEEE Annual Conference on Decision and control

作者： Junfei Xie Luis Rodolfo Garcia Carrillo Lei Jin Joao P. Hespanha Department of Electrical and Computer Engineering San Diego State University San Diego CA Unmanned Systems Laboratory (TAMUCC-USL) Texas A&M University - Corpus Christi Corpus Christi TX Department of Department of Mathematics & Statistics Texas A&M University-Corpus Christi Center for Control Dynamical Systems and Computation University of California Santa Barbara CA USA

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

We address the problem of estimating the state of a Multi-Agent System (MAS) with dynamics subjected to impulsive disturbances, based on measurements that are corrupted with impulsive noise and are sometimes missing. To facilitate the online implementation of the proposed state estimator for MAS, a graph formulation is proposed first. Then, making use of the Huber Loss, the estimator adopts a general cost function that addresses missing measurements and is robust to impulsive noise and disturbances. The solution is validated under a synthetic scenario, where a team of UAVs equipped with onboard video cameras, inertial sensors, transceivers, and GPS, cooperatively geolocate and track a ground moving target agent. Comparison results with respect to three different state-of-the-art estimators are provided to show the superior performance and benefits of the proposed robust estimator.

关键词： Noise measurement Sensors Global Positioning System Robustness Loss measurement Time measurement Current measurement

Pull message passing for nonparametric belief propagation

学校读者我要写书评

暂无评论

arXiv 2018年

作者： Desingh, Karthik Opipari, Anthony Jenkins, Odest Chadwicke Laboratory for Perception RObotics Grounded REasoning SystemS Department of Electrical Engineering and Computer Science Robotics Institute University of Michigan Ann ArborMI48105 United States

We present a "pull" approach to approximate products of Gaussian mixtures within message updates for Nonparametric Belief Propagation (NBP) inference. Existing NBP methods often represent messages between continuous-valued latent variables as Gaussian mixture models. To avoid computational intractability in loopy graphs, NBP necessitates an approximation of the product of such mixtures. Sampling-based product approximations have shown effectiveness for NBP inference. However, such approximations used within the traditional "push" message update procedures quickly become computationally prohibitive for multi-modal distributions over high-dimensional variables. In contrast, we propose a "pull" method, as the Pull Message Passing for Nonparametric Belief propagation (PMPNBP) algorithm, and demonstrate its viability for efficient inference. We report results using an experiment from an existing NBP method, PAMPAS, for inferring the pose of an articulated structure in clutter. Results from this illustrative problem found PMPNBP has a greater ability to efficiently scale the number of components in its mixtures and, consequently, improve inference accuracy. Copyright © 2018, The Authors. All rights reserved.

关键词： Message passing

Sparse system identification for stochastic feedback control systems

学校读者我要写书评

暂无评论

arXiv 2019年

作者： Zhao, Wenxiao Yin, George Bai, Er-Wei Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing100049 Department of Mathematics Wayne State University DetroitMI48202 United States Department of Electrical and Computer Engineering University of Iowa Iowa CityIA52242 United States

Focusing on identification, this paper develops techniques to reconstruct zero and nonzero elements of a sparse parameter vector θ of a stochastic dynamic system under feedback control, for which the current input may depend on the past inputs and outputs, system noises as well as exogenous dithers. First, a sparse parameter identification algorithm is introduced based on L2norm with L1regularization, where the adaptive weights are adopted in the optimization variables of L1term. Second, estimates generated by the algorithm are shown to have both set and parameter convergence. That is, sets of the zero and nonzero elements in the parameter θ can be correctly identified with probability one using a finite number of observations, and estimates of the nonzero elements converge to the true values almost surely. Third, it is shown that the results are applicable to a large number of applications, including variable selection, open-loop identification, and closed-loop control of stochastic systems. Finally, numerical examples are given to support the theoretical analysis. Copyright © 2019, The Authors. All rights reserved.

关键词： Stochastic systems

Observer-free output feedback adaptive control for multivehicle systems with exogenous disturbances

学校读者我要写书评

暂无评论

Observer-free output feedback adaptive control for multivehi...

AIAA Guidance, Navigation, and control Conference, 2018

作者： Albattat, Ali Yucelen, Tansel Gruenwald, Benjamin C. Sarangapani, Jagannathan Department of Mechanical and Aerospace Engineering Missouri University of Science and Technology RollaMO65409 United States Department of Mechanical Engineering Laboratory for Autonomy Control Information and Systems University of South Florida TampaFL33620 United States Department of Electrical and Computer Engineering Missouri University of Science and Technology RollaMO65409 United States

ISBN: (数字)9781624105265

ISBN: (纸本)9781624105265

A new observer-free output feedback adaptive control, (OF)2AC, method is proposed for continuous-time, minimum phase, and high-order linear multivehicle systems subject to exogenous disturbances (hereinafter referred to as "uncertain multivehicle systems"). In particular, the (OF)2AC is based on a nonminimal state-space realization for each follower vehicle of the multivehicle system, where this realization generates an expanded set of states using the filtered input, filtered output, and their derivatives of the follower vehicles. The (OF)2AC consists of i) a local cooperative controller and ii) a vehicle-level controller for each follower vehicle. Specifically, part i) of the proposed control method addresses the leader-follower containment control problem by receiving the relative output measurements of the neighboring vehicles and its part ii) consists of an augmenting adaptive controller for stabilization and command following in the presence of exogenous disturbances. Two illustrative numerical examples are provided to demonstrate efficacy of the (OF)2AC. © 2018 by the American Institute of Aeronautics and Astronautics, Inc.

关键词： Vehicles

A lyapunov-based small-gain theorem for infinite networks

学校读者我要写书评

暂无评论

arXiv 2019年

作者： Kawan, Christoph Mironchenko, Andrii Swikir, Abdalla Noroozi, Navid Zamani, Majid Institute of Informatics Ludwig Maximilian University of Munich Germany Faculty of Computer Science and Mathematics University of Passau Passau94032 Germany Department of Electrical and Computer Engineering Technical University of Munich Germany Otto-von-Guericke University Magdeburg Laboratory for Systems Theory and Automatic Control Magdeburg Germany Computer Science Department University of Colorado BoulderCO80309 United States Computer Science Department Ludwig Maximilian University of Munich Germany

This paper presents a small-gain theorem for networks composed of a countably infinite number of finite-dimensional subsystems. Assuming that each subsystem is exponentially input-to-state stable, we show that if the gain operator, collecting all the information about the internal Lyapunov gains, has a spectral radius less than one, the overall infinite network is exponentially input-to-state stable. The effectiveness of our result is illustrated through several examples including nonlinear spatially invariant systems with sector nonlinearities and a road traffic *** Codes 37B25, 37L15, 93D05, 93A15 Copyright © 2019, The Authors. All rights reserved.

关键词： Large scale systems

A Game Theoretic Approach to Design a Resilient controller For a Nonlinear Discrete System

学校读者我要写书评

暂无评论

IFAC-PapersOnLine 2017年第1期50卷 387-392页

作者： Salehghaffari H. Krishnamurthy P. Khorrami F. Control/Robotics Research Laboratory (CRRL) Department of Electrical and Computer Engineering NYU Tandon School of EngineeringNY 11201 United States

In this paper, the problem of designing a cyber-resilient controller is studied for a class of nonlinear discrete systems subject to actuator attacks. We develop a coupled control design approach, which incorporates interaction between the intrusion detection system (IDS) and the attacker, with the controller design in the physical layer. In the considered cyber-attack scenario, the attacker attempts to first bypass the IDS to spoof the system actuator and then deteriorate the controller performance in the physical layer. The optimal attack strategy to deceive the IDS is obtained based on a zero-sum game in the detection layer. In the physical layer, it is assumed that the system has a secure compensator along with the actuator to deal with the injected attack values. Therefore, the controller and the compensator are designed based on the results of the game in the detection layer, and stochastic stability analysis and Lyapunov function methods are used to prove boundedness of the system state in the probabilistic sense. Finally, through numerical analysis of a representative example, the proposed design procedure is illustrated and its efficacy in maintaining robust stability of the cyber-physical system under actuator attacks is demonstrated. © 2017

关键词： attack strategy control systems security Cyber-physical system resilient control stochastic stability zero-sum game

Outer-linearization-based optimization algorithm for decentralized control design in flexure-linked H-gantry

学校读者我要写书评

暂无评论

Outer-linearization-based optimization algorithm for decentr...

2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018

作者： Ma, Jun Chen, Si-Lu Liang, Wenyu Li, Xiaocong Teo, Chek Sing Tay, Arthur Mamun, Abdullah Al Tan, Kok Kiong SIMTech-NUS Joint Lab. on Precision Motion Systems Department of Electrical and Computer Engineering National University of Singapore Singapore117582 Singapore Department of Electrical and Computer Engineering National Universit of Singapore Singapore117583 Singapore Mechatronics Group Singapore Institute of Manufacturing Technology Singapore138634 Singapore Zhejiang Provincial Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo Institute of Industrial Technology Chinese Academy of Sciences Ningbo Zhejiang315121 China

ISBN: (纸本)9781538618547

The dual-drive H-gantry (DHG) is widely used for high-speed high-precision Cartesian motion control applications. Compared with the rigid-linked gantry design, the flexure-linked design is able to prevent the damage of the cross-arm because a small degree of rotation angle is allowed. Nevertheless, the flexure-linked design possibly induces the resonance of the gantry because of the chattering of control signals. To maintain the precision tracking of two carriages and minimize the chattering of control efforts, we aim to seek the most suitable flexure joints among the available ones and optimize the decentralized feedback controller parameters under parametric uncertainties. The mechatronic design problem is formulated as an H2 guaranteed cost control problem. All the stabilizing feedback controller gains are parameterized over a convex set, from here, numerical procedures are developed to obtain the global optimum by means of an outer-linearization-based optimization algorithm. Experiments are carried out and the results successfully validate the optimality and the robustness of the proposed design approach. © 2018 IEEE.

关键词： Feedback control

Decentralized controller design in flexure-linked gantry by H2 guaranteed cost optimization approach 18

学校读者我要写书评

暂无评论

Decentralized controller design in flexure-linked gantry by ...

18th International Conference of the European Society for Precision engineering and Nanotechnology, EUSPEN 2018

作者： Ma, Jun Chen, Si-Lu Liang, Wenyu Teo, Chek Sing Tay, Arthur Al Mamun, Abdullah Tan, Kok Kiong SIMTech-NUS Joint Lab. on Precision Motion Systems Department of Electrical and Computer Engineering National University of Singapore Singapore117582 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore117583 Singapore Agency for Science Technology and Research Singapore Institute of Manufacturing Technology Singapore138634 Singapore Zhejiang Provincial Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo Institute of Industrial Technology Chinese Academy of Sciences Ningbo Zhejiang315201 China

ISBN: (纸本)9780995775121

Dual-drive H-gantry is widely used in many industrial processes that require high-speed and high-precision Cartesian motion. Unlike the rigid-linked gantry design, the flexure-linked design is able to prevent the damage of the cross-arm because a small degree of rotation angle is possible. However, the flexure-linked design may induce the resonant modes of the gantry because of high frequency control signals. To maintain the precision tracking of two carriages and minimize the chattering of control efforts, we aim to seek the most suitable flexure joints among the available ones while optimizing the decentralized feedback controller parameters under model uncertainties. In this way, good tracking performance is achieved without costly system re-design. In this work, we formulate the mechatronic design problem as an H2 guaranteed cost control problem. All the stabilizing feedback controller gains are parameterized over a convex set, and the global optimum is obtained by means of an outer-linearization-based algorithm. Experiments are conducted and the results successfully validate the effectiveness of the proposed design approach. © 2018 CURRAN-CONFERENCE. All rights reserved.

关键词： Convex optimization Dual-drive H-gantry Flexure Mechatronic design Optimal control Parallel mechanism

学校读者我要写书评

暂无评论

arXiv 2020年

作者： Li, Jiashuo Zhou, Sili Wei, Wendong Qi, Jianchuan Li, Yumeng Chen, Bin Zhang, Ning Guan, Dabo Qian, Haoqi Wu, Xiaohui Miao, Jiawen Chen, Long Liang, Sai Feng, Kuishuang Institute of Blue and Green Development Shandong University Weihai264209 State Key Laboratory of Coal Combustion School of Energy and Power Engineering Huazhong University of Science and Technology Wuhan430074 China School of International and Public Affairs Shanghai Jiao Tong University Shanghai200030 China State Key Joint Laboratory of Environment Simulation and Pollution Control School of Environment Beijing Normal University Beijing100875 China Laboratory of Anthropogenic Systems Ecology College of Engineering Peking University Beijing100871 China Department of Earth System Science Tsinghua University Beijing100871 China Institute for Global Public Policy Fudan University Shanghai200433 China School of Optical-Electrical and Computer Engineering University of Shanghai for Science and Technology Shanghai200093 China Key Laboratory of Geographic Information Science Ministry of Education School of Geographic Sciences East China Normal University Shanghai200241 China

China has implemented retrofitting measures in coal-fired power plants (CFPPs) to reduce air pollution through small unit shutdown (SUS), the installation of air pollution control devices (APCDs) and power generation efficiency (PGE) improvement. The reductions in highly toxic Hg emissions and their related health impacts by these measures have not been well studied. To refine mitigation options, we evaluated the health benefits of reduced Hg emissions via retrofitting measures during China's 12th Five-Year Plan by combining plant-level Hg emission inventories with the China Hg Risk Source-Tracking Model. We found that the measures reduced Hg emissions by 23.5 tons (approximately 1/5 of that from CFPPs in 2010), preventing 0.0021 points of per-foetus intelligence quotient (IQ) decrements and 114 deaths from fatal heart attacks. These benefits were dominated by CFPP shutdowns and APCD installations. Provincial health benefits were largely attributable to Hg reductions in other regions. We also demonstrated the necessity of considering human health impacts, rather than just Hg emission reductions, in selecting Hg control devices. This study also suggests that Hg control strategies should consider various factors, such as CFPP locations, population densities and trade-offs between reductions of total Hg (THg) and Hg2+. Copyright © 2020, The Authors. All rights reserved.

关键词： Fossil fuel power plants