共查询到20条相似文献，搜索用时 411 毫秒
1.
We propose a novel form of nonlinear stochastic filtering based on an iterative evaluation of a Kalman-like gain matrix computed within a Monte Carlo scheme as suggested by the form of the parent equation of nonlinear filtering (Kushner–Stratonovich equation) and retains the simplicity of implementation of an ensemble Kalman filter (EnKF). The numerical results, presently obtained via EnKF-like simulations with or without a reduced-rank unscented transformation, clearly indicate remarkably superior filter convergence and accuracy vis-à-vis most available filtering schemes and eminent applicability of the methods to higher dimensional dynamic system identification problems of engineering interest. 相似文献
2.
几种高精度差分格式的比较试验 总被引：1，自引：0，他引：1
具体比较了三种含基架网点少的高精度格式：紧致平方守恒格式、特征保形格式和特征Ｈｅｒｍｉｔｅ插值格式．实例表明前两种格式计算效果较好,第三种格式有明显位相差． 相似文献
3.
《Information processing & management》2022,59(3):102925
We propose bidirectional imparting or BiImp, a generalized method for aligning embedding dimensions with concepts during the embedding learning phase. While preserving the semantic structure of the embedding space, BiImp makes dimensions interpretable, which has a critical role in deciphering the black-box behavior of word embeddings. BiImp separately utilizes both directions of a vector space dimension: each direction can be assigned to a different concept. This increases the number of concepts that can be represented in the embedding space. Our experimental results demonstrate the interpretability of BiImp embeddings without making compromises on the semantic task performance. We also use BiImp to reduce gender bias in word embeddings by encoding gender-opposite concepts (e.g., male–female) in a single embedding dimension. These results highlight the potential of BiImp in reducing biases and stereotypes present in word embeddings. Furthermore, task or domain-specific interpretable word embeddings can be obtained by adjusting the corresponding word groups in embedding dimensions according to task or domain. As a result, BiImp offers wide liberty in studying word embeddings without any further effort. 相似文献
4.
We pursue the numerical implementation of a boundary controllability problem for the 1D wave equation based on a recent variational approach to deal with such situations that consists in analyzing an error functional defined for feasible functions complying with appropriate initial, boundary, and final constraints. The nature of such scheme, as a minimization process for a certain error functional, leads to a natural numerical implementation by using typical descent algorithms. Our aim here is to explore the basic ingredients to set up such practical numerical approximations which allow us to address linear and semilinear equations with the same numerical scheme. 相似文献
5.
Time and space splitting techniques are applied to the Burgers’ equation and the modified Burgers’ equation, and then the quintic B-spline collocation procedure is employed to approximate the resulting systems. Some numerical examples are studied to demonstrate the accuracy and efficiency of the proposed method. Comparisons with both analytical solutions and some published numerical results are done in computational section. 相似文献
6.
In this paper, a new robust adaptive prescribed performance control (PPC, for short) scheme is proposed for quadrotor UAVs (QUAVs, for short) with unknown time-varying payloads and wind gust disturbances. Under the presented framework, the overall control system is decoupled into translational subsystem and rotational subsystem. These two subsystems are connected to each other through common attitude extraction algorithms. For translational subsystem, a novel robust adaptive PPC strategy is designed based on the sliding mode control technique to provide better trajectory tracking performance and well robustness. For rotational subsystem, a new robust adaptive controller is constructed based on backstepping technique to track the desired attitudes. Finally, the overall system is proved to be stable in the sense of uniform ultimate boundedness, and numerical simulation results are presented to validate the effectiveness of the proposed control scheme. 相似文献
7.
This paper proposes a pursuit formation control scheme for a network of double-integrator mobile agents based on a vector field approach. In a leaderless architecture, each agent pursues another one via a cyclic topology to achieve a regular polygon formation. On the other hand, the agents are exposed to a rotational vector field such that they rotate around the vector field centroid, while they keep the regular polygon formation. The main problem of existing approaches in the literature for cyclic pursuit of double-integrator multiagent systems is that under those approaches, the swarm angular velocity and centroid are not controllable based on missions and agents capabilities. However, by employing the proposed vector field approach in this paper, while keeping a regular polygon formation, the swarm angular velocity and centroid can be determined arbitrary. The obtained results can be extended to achieve elliptical formations with cyclic pursuit as well. Simulation results for a team of eight mobile agents verify the accuracy of the proposed control scheme. 相似文献
8.
Xiaolei Li Xiaoyuan Luo Jiange Wang Xinping Guan 《Journal of The Franklin Institute》2018,355(5):2703-2719
This paper investigates the finite-time consensus problem of uncertain nonlinear multi-agent systems with asymmetric time-varying delays and directed communication topology. An auxiliary system is firstly designed to deal with the continuous or discontinuous time-varying communication delays. Based on the finite-time input-to-output framework, a novel consensus scheme relying on local delayed information exchange is proposed. Moreover, by utilizing an auxiliary integrated regressor matrix and vector method, the system uncertainties can be accurately estimated. Then the consensus of multi-agent systems can be achieved within finite time by selecting the control gains simply. Finally, numerical simulations are provided to demonstrate the effectiveness of the proposed control algorithms. 相似文献
9.
In this study, the generalized nonlinear Schrödinger (GNLS) equation is solved numerically by the quintic B-spline collocation finite element method. In the method, Crank-Nicolson scheme is used for the time integration, and the space variable is discretized by means of quintic B-spline functions. Finally, we investigate properties of the numerically computed solutions of the GNLS equation; in particular we study the generation of solitary waves, interaction of solitons and blow up. 相似文献
10.
《Journal of The Franklin Institute》2023,360(3):1613-1634
For stochastic nonlinear systems with time-varying delays, the existing robust control approaches are unnecessarily conservative in most practical scenarios. Within this context, a mathematically rigorous and computationally tractable tube-based model predictive control scheme is proposed in the framework of contraction theory. A contraction metric is systematically constructed via convex optimization by forming a differential LyapunovKrasovskii function on tangent space. It guarantees the perturbed actual solution trajectories to be contained within a robust positive invariant tube centered along the reference trajectories and results in an explicit exponential bound on the deviation. The application scenarios of the control contraction metric controller are extended from constant delay systems into time-varying delay systems thereby. Compared with the existing robust mechanism for time-delay systems based on min-max optimization formulation with a linear feedback controller, the proposed scheme greatly reduces the design conservativeness and yields a larger region of attraction. A sparse multi-dimensional Taylor network (MTN) is designed to parameterize the family of the geodesic. Compared to conventional NNs and MTN surrogates, sparse MTN features a more concise topology that enhances its computational efficiency conspicuously. Results of the numerical simulations verify the effectiveness of the proposed method. 相似文献
11.
《Journal of The Franklin Institute》2022,359(14):7540-7561
In this paper, we first introduce the necessary and sufficient conditions for the existence of the solution of discrete algebraic Riccati equation. Then we propose the Newton method without inversion to find the solution of the discrete algebraic Riccati equation. We show that the proposed method converges to a positive definite solution of the discrete algebraic Riccati equation. Finally, the accuracy and effectiveness of the proposed method in compare to some existing algorithms are demonstrated by various numerical examples. 相似文献
12.
基于迭代学习控制中的开闭环配合方案，本文提出了一类双线性型学习控制算法．针对刚性关节机器人动力学特性，文中给出了保证算法迭代收敛性的充分条件．仿真结果表明，适当选取双线性学习控制成分的增益矩阵可加速收敛过程． 相似文献
13.
《Journal of The Franklin Institute》2023,360(2):693-718
The three-dimensional (3D) impact time and angle guidance problem is of great practical significance but remains open because of the coupling nonlinearity and multiple constraints. To solve this problem, a 3D vector guidance law is proposed in this paper to intercept a non-maneuvering target at the desired impact conditions. First, a 3D vector impact angle constrained guidance law with explicit time-to-go estimation is developed by extending the planar one into the 3D space. Then, the intercepting component of the above guidance law is augmented by a time-to-go feedback term, which leads to the proposed 3D vector impact time and angle guidance law. Stability analysis and parameter selection criteria are presented to show the advantageous features of the proposed design. In particular, the proposed guidance law does not require the switch logic, numerical algorithms, or decoupling strategy, which outperforms similar existing results in terms of continuous command and convenient implementation. Finally, several numerical simulations are performed to validate the theoretical findings. 相似文献
14.
Sliding mode control of manipulators using first-order equations of motion with diagonal mass matrix
Przemys?aw Herman 《Journal of The Franklin Institute》2005,342(4):353-363
This paper presents a proposition of a sliding mode controller for a rigid manipulator expressed in terms of the generalized velocity components (GVC) vector. Introduction of GVC (Trans. ASME J. Appl. Mech. 62 (1995) 216) together with generalized positions leads to two first-order decoupled equations of motion instead of a single second-order equation. It is shown that the new controller, stable in the sense of Lyapunov, has different properties and can, according to Slotine and Li (Int. J. Robotics Res. 6 (1987) 49), give better performance than the classical sliding mode controller. Both control algorithms were tested on a 3 d.o.f., 3-D Yasukawa-like robot. 相似文献
15.
《Journal of The Franklin Institute》2022,359(17):9925-9951
This paper focuses on constructing a conjugate gradient-based (CGB) method to solve the generalized periodic coupled Sylvester matrix equations in complex space. The presented method is developed from a point of conjugate gradient methods. It is proved that the presented method can find the solution of the considered matrix equations within finite iteration steps in the absence of round-off errors by theoretical derivation. Some numerical examples are provided to verify the convergence performance of the presented method, which is superior to some existing numerical algorithms both in iteration steps and computation time. 相似文献
16.
在MATLAB环境下,取ORL人脸数据库的部分人脸样本集,基于PCA方法提取人脸特征,形成特征脸空间,然后将每个人脸样本投影到该空间得到一投影系数向量,该投影系数向量在一个低维空间表述了一个人脸样本,这样就得到了训练样本集。同时将另一部分ORL人脸数据库的人脸作同样处理得到测试样本集。然后基于最近邻算法进行分类,得到识别率,接下来使用BP神经网络算法进行人脸识别,最后通过基于神经网络算法和最近邻算法进行综合决策,对待识别的人脸进行分类。 相似文献
17.
《Journal of The Franklin Institute》2023,360(12):9050-9064
We deal with the cooperative pointing control problem of collinear double-integrators with unknown rotational inertia in this paper. In particular, we consider the case that the rotational angular velocity information is not available for this coordination task. First, we propose a cooperative pointing control protocol without using the rotational angular velocity measurements. By means of the passivity tool, a distributed estimation scheme is devised to access the relative rotational angular velocity information at each agent via the relative rotational angle information of the agent and its left and respectively right neighbors. Subsequently, we redesign the cooperative pointing control protocol as well as the distributed estimation scheme in the presence of saturated relative rotational angle information. It turns out that, here the unknown rotational inertia does not prevent the coordination task because of the bidirectional interactions. Meanwhile, two local estimation schemes are also presented respectively for the above two control protocols. Besides the rigorous convergence analysis, the effectiveness of our obtained theoretical results is illustrated through numerical simulations. 相似文献
18.
This paper presents the analysis and control of active magnetic bearing (AMB) systems with a flexible rotor. A sliding mode controller design scheme is proposed to compensate for the nonlinear effects of the AMB system. A nonlinear model of the AMB system with an electromagnetic actuator and a flexible rotor is proposed to facilitate the present system analysis and controller design. This nonlinear model takes into account the dynamics of the flexible rotor, the characteristics of the nonlinear electromagnetic suspended system, and the contact force between the auxiliary bearing and the shaft. This study also considers the auto-centering control of the AMB system when subjected to disturbances and variations in the system parameters. The numerical results show that the system exhibits a periodic motion and demonstrates high accuracy and robustness when operating under sliding mode control. 相似文献
19.
Two algorithms based on an integral equation formulation of the buckling optimization problem are formulated and implemented. The objective of the optimization is to maximize the buckling load of an elastically restrained column by optimally designing the cross-sectional area subject to a minimum cross-section or maximum stress constraint. The first approach involves solving the resulting integral equations iteratively taking into account the boundary conditions, the optimality criterion and the imposed constraints. In the second approach an iterative finite difference approximation scheme is developed.The column is elastically restrained at both ends which produce the simple support and clamped end conditions for the limiting cases leading to the optimal design of columns under general boundary conditions. The above problems do not have analytical solutions due to the complexity of the boundary conditions, constraints and the optimality conditions necessitating the formulation of computational schemes for their solution. Several numerical results are given and compared with available results in the literature. Moreover the accuracy of the methods is studied by comparing the iterative solutions with finite element ones and with exact results when available. 相似文献
20.
考虑圆形、扇形等区域上的Poisson方程的局部间断有限元方法 ,给出了极坐标系下Poisson方程的局部间断有限元格式并给出了数值实验结果。如果所求解的问题充分光滑,数值实验表明:在k次间断有限元空间求解时,原始变量的误差阶可以达到k+1阶,而辅助变量的误差阶可达到k阶。 相似文献