Fine-tuning large language models (LLMs) for sports injury prevention and treatment in resource-constrained environments poses significant challenges due to memory demands and growing size of data. This paper proposes...
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Continuous-time adaptive controllers for systems with a matched uncertainty often comprise an online parameter estimator and a corresponding parameterized controller to cancel the uncertainty. However, such methods ar...
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ISBN:
(数字)9798350316339
ISBN:
(纸本)9798350316346
Continuous-time adaptive controllers for systems with a matched uncertainty often comprise an online parameter estimator and a corresponding parameterized controller to cancel the uncertainty. However, such methods are often impossible to implement directly, as they depend on an unobserved estimation error. We consider the equivalent discrete-time setting with a causal information structure, and propose a novel, online proximal point method-based adaptive controller, that under a sufficient excitation (SE) condition is asymptotically stable and achieves finite regret, scaling only with the time required to fulfill the SE. We show the same also for the widely-used recursive least squares with exponential forgetting controller under a stronger persistence of excitation condition.
To solve the power imbalance problem caused by the difference between the equivalent impedance of the inverter and the line impedance, and the power quality problem caused by the disturbance of load mutation, unbalanc...
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High reliability and intelligence mark the cutting-edge development trend of high-speed vehicle controltechnology. This research focuses on the progress of high-speed vehicle controltechnology based on reinforcement...
High reliability and intelligence mark the cutting-edge development trend of high-speed vehicle controltechnology. This research focuses on the progress of high-speed vehicle controltechnology based on reinforcement learning, and sorts out its application in control parameter tuning, compensation control, and end-to-end control. Focusing on the development framework of intelligent control safety and efficiency, this paper deeply analyzes the challenges of safety, training efficiency, and interpretability faced by high-speed vehicle in reinforcement learning control, and proposes feasible paths and development directions for future research.
From the aspects of low-power DSP design, low-power SOC design, and low-power power switch design, this paper proposes a chip architecture 'high-low matching' scheme for low-power multitasking requirements. Th...
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The robotic airship can provide a promising aerostatic platform for many potential *** applications require a precise autonomous trajectory tracking control for *** has a nonlinear and uncertain *** is prone to wind d...
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The robotic airship can provide a promising aerostatic platform for many potential *** applications require a precise autonomous trajectory tracking control for *** has a nonlinear and uncertain *** is prone to wind disturbances that offer a challenge for a trajectory tracking control *** paper addresses the airship trajectory tracking problem having time varying reference path.A lumped parameter estimation approach under model uncertainties and wind disturbances is opted against distributed *** uses extended Kalman filter(EKF)for uncertainty and disturbance *** estimated parameters are used by sliding mode controller(SMC)for ultimate control of airship trajectory *** comprehensive algorithm,EKF based SMC(ESMC),is used as a robust solution to track airship *** proposed estimator provides the estimates of wind disturbances as well as model uncertainty due to the mass matrix variations and aerodynamic model *** stability and convergence of the proposed method are investigated using the Lyapunov stability *** simulation results show that the proposed method efficiently tracks the desired *** method solves the stability,convergence,and chattering problem of SMC under model uncertainties and wind disturbances.
We study a formation control problem of nonholonomic vehicles which consists in making a group of them gather around a given rendezvous set-point and acquire a common orientation. This task may be regarded as part of ...
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One of the critical challenges in automated driving is ensuring safety of automated vehicles despite the unknown behavior of the other vehicles. Although motion prediction modules are able to generate a probability di...
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Encrypted dynamic controllers that operate for an unlimited time have been a challenging subject of research. The fundamental difficulty is the accumulation of errors and scaling factors in the internal state during o...
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We develop a method for controlling the ensemble states of a two-level quantum system on the Bloch sphere. A spectrum of resonance frequencies parametrizes the ensemble. The evolution of the ensemble states under exte...
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