A Non-Parametric Scheme for Identifying Data Characteristic Based on Curve Similarity Matching

For accurately identifying the distribution charac-teristic of Gaussian-like noises in unmanned aerial vehicle(UAV)state estimation,this paper proposes a non-parametric scheme based on curve similarity matching.In the framework of the pro-posed scheme,a Parzen window(kernel density estimation,KDE)method on sliding window technology is applied for roughly esti-mating the sample probability density,a precise data probability density function(PDF)model is constructed with the least square method on K-fold cross validation,and the testing result based on evaluation method is obtained based on some data characteristic analyses of curve shape,abruptness and symmetry.Some com-parison simulations with classical methods and UAV flight exper-iment shows that the proposed scheme has higher recognition accuracy than classical methods for some kinds of Gaussian-like data,which provides better reference for the design of Kalman filter(KF)in complex water environment.

A Novel Adaptive Kalman Filter Based on Credibility Measure

It is quite often that the theoretic model used in the Kalman filtering may not be sufficiently accurate for practical applications,due to the fact that the covariances of noises are not exactly known.Our previous work reveals that in such scenario the filter calculated mean square errors(FMSE)and the true mean square errors(TMSE)become inconsistent,while FMSE and TMSE are consistent in the Kalman filter with accurate models.This can lead to low credibility of state estimation regardless of using Kalman filters or adaptive Kalman filters.Obviously,it is important to study the inconsistency issue since it is vital to understand the quantitative influence induced by the inaccurate models.Aiming at this,the concept of credibility is adopted to discuss the inconsistency problem in this paper.In order to formulate the degree of the credibility,a trust factor is constructed based on the FMSE and the TMSE.However,the trust factor can not be directly computed since the TMSE cannot be found for practical applications.Based on the definition of trust factor,the estimation of the trust factor is successfully modified to online estimation of the TMSE.More importantly,a necessary and sufficient condition is found,which turns out to be the basis for better design of Kalman filters with high performance.Accordingly,beyond trust factor estimation with Sage-Husa technique(TFE-SHT),three novel trust factor estimation methods,which are directly numerical solving method(TFE-DNS),the particle swarm optimization method(PSO)and expectation maximization-particle swarm optimization method(EM-PSO)are proposed.The analysis and simulation results both show that the proposed TFE-DNS is better than the TFE-SHT for the case of single unknown noise covariance.Meanwhile,the proposed EMPSO performs completely better than the EM and PSO on the estimation of the credibility degree and state when both noise covariances should be estimated online.

Adaptive nonlinear Kalman filters based on credibility theory with noise correlation

To solve the divergence problem and overcome the difficulty in guaranteeing filtering accuracy during estimation of the process noise covariance or the measurement noise covariance with traditional new information-based nonlinear filtering methods,we design a new method for estimating noise statistical characteristics of nonlinear systems based on the credibility Kalman Filter(KF)theory considering noise correlation.This method first extends credibility to the Unscented Kalman Filter(UKF)and Extended Kalman Filter(EKF)based on the credibility theory.Further,an optimization model for nonlinear credibility under noise related conditions is established considering noise correlation.A combination of filtering smoothing and credibility iteration formula is used to improve the real-time performance of the nonlinear adaptive credibility KF algorithm,further expanding its application scenarios,and the derivation process of the formula theory is provided.Finally,the performance of the nonlinear credibility filtering algorithm is simulated and analyzed from multiple perspectives,and a comparative analysis conducted on specific experimental data.The simulation and experimental results show that the proposed credibility EKF and credibility UKF algorithms can estimate the noise covariance more accurately and effectively with lower average estimation time than traditional methods,indicating that the proposed algorithm has stable estimation performance and good real-time performance.

Optimal economic dispatching of multi-microgrids by an improved genetic algorithm

A multi-microgrid economic dispatching strategy based on adaptive mutation genetic algorithm is proposed for multi-microgrid systems with different load types and power demands.Based on the analysis of industrial,residential and commercial loads,considering the synergy and complementarity between multi-microgrids,an optimal dispatching model of multi-microgrids based on the minimum operation cost and environmental protection cost of multi-microgrids is established from the point of view of environmental protection and economy.At the same time,an adaptive mutation genetic algorithm is proposed to optimize the system model and find the optimal economic dispatching scheme.

Multi-layer collaborative optimization fusion for semi-supervised learning

Recently,the Cooperative Training Algorithm(CTA),a well-known Semi-Supervised Learning(SSL)technique,has garnered significant attention in the field of image classification.However,traditional CTA approaches face challenges such as high computational complexity and low classification accuracy.To overcome these limitations,we present a novel approach called Weighted fusion based Cooperative Training Algorithm(W-CTA),which leverages the cooperative training technique and unlabeled data to enhance classification performance.Moreover,we introduce the K-means Cooperative Training Algorithm(km-CTA)to prevent the occurrence of local optima during the training phase.Finally,we conduct various experiments to verify the performance of the proposed methods.Experimental results show that W-CTA and km-CTA are effective and efficient on CIFAR-10 dataset.

Dynamic time prediction for electric vehicle charging based on charging pattern recognition

Overcharging is an important safety issue in the charging process of electric vehicle power batteries,and can easily lead to accelerated battery aging and serious safety accidents.It is necessary to accurately predict the vehicle’s charging time to effectively prevent the battery from overcharging.Due to the complex structure of the battery pack and various charging modes,the traditional charging time prediction method often encounters modeling difficulties and low accuracy.In response to the above problems,data drivers and machine learning theories are applied.On the basis of fully considering the different electric vehicle battery management system(BMS)charging modes,a charging time prediction method with charging mode recognition is proposed.First,an intelligent algorithm based on dynamic weighted density peak clustering(DWDPC)and random forest fusion is proposed to classify vehicle charging modes.Then,on the basis of an improved simplified particle swarm optimization(ISPSO)algorithm,a high-performance charging time prediction method is constructed by fully integrating long short-term memory(LSTM)and a strong tracking filter.Finally,the data run by the actual engineering system are verified for the proposed charging time prediction algorithm.Experimental results show that the new method can effectively distinguish the charging modes of different vehicles,identify the charging characteristics of different electric vehicles,and achieve high prediction accuracy.

Adaptive cubature Kalman filter with the estimation of correlation between multiplicative noise and additive measurement noise

Mobile robots are often subject to multiplicative noise in the target tracking tasks,where the multiplicative measurement noise is correlated with additive measurement noise.In this paper,first,a correlation multiplicative measurement noise model is established.It is able to more accurately represent the measurement error caused by the distance sensor dependence state.Then,the estimated performance mismatch problem of Cubature Kalman Filter(CKF)under multiplicative noise is analyzed.An improved Gaussian filter algorithm is introduced to help obtain the CKF algorithm with correlated multiplicative noise.In practice,the model parameters are unknown or inaccurate,especially the correlation of noise is difficult to obtain,which can lead to a decrease in filtering accuracy or even divergence.To address this,an adaptive CKF algorithm is further provided to achieve reliable state estimation for the unknown noise correlation coefficient and thus the application of the CKF algorithm is extended.Finally,the estimated performance is analyzed theoretically,and the simulation study is conducted to validate the effectiveness of the proposed algorithm.

H_(∞)containment control with time-varying delays and communicate noise under semi-Markov switching topologies

This article focuses on H_(∞)containment control and the communication network topologies that are driven by a semi-Markov chain.Moreover,the communication channels between agents exist time-varying delays and noise.Firstly,the authors extend the Markov switching topologies to semi-Markov switching topologies.Because the transition rate of the semi-Markov switching topology is time-varying and depends on the sojourn time,the analysis of containment control under semi-Markov switching topology becomes more challenging.Secondly,a control protocol with time-varying delays is adopted.The error function is derived by the property of graph theory,convex hull and communication noise.Hence,the problem of H_(∞)containment control is transformed into the stability problem of the semi-Markov jump system.To avoid the zero initial condition in the traditional H_(∞)control approach,a novel performance function is constructed with the initial condition considered.Finally,simulation experiments are provided to verify the effectiveness of the proposed algorithm.