Adaptive Optimal Discrete-Time Output-Feedback Using an Internal Model Principle and Adaptive Dynamic Programming

In order to address the output feedback issue for linear discrete-time systems, this work suggests a brand-new adaptive dynamic programming(ADP) technique based on the internal model principle(IMP). The proposed method, termed as IMP-ADP, does not require complete state feedback-merely the measurement of input and output data. More specifically, based on the IMP, the output control problem can first be converted into a stabilization problem. We then design an observer to reproduce the full state of the system by measuring the inputs and outputs. Moreover, this technique includes both a policy iteration algorithm and a value iteration algorithm to determine the optimal feedback gain without using a dynamic system model. It is important that with this concept one does not need to solve the regulator equation. Finally, this control method was tested on an inverter system of grid-connected LCLs to demonstrate that the proposed method provides the desired performance in terms of both tracking and disturbance rejection.

An improved interval model updating method via adaptive Kriging models

Interval model updating(IMU)methods have been widely used in uncertain model updating due to their low requirements for sample data.However,the surrogate model in IMU methods mostly adopts the one-time construction method.This makes the accuracy of the surrogate model highly dependent on the experience of users and affects the accuracy of IMU methods.Therefore,an improved IMU method via the adaptive Kriging models is proposed.This method transforms the objective function of the IMU problem into two deterministic global optimization problems about the upper bound and the interval diameter through universal grey numbers.These optimization problems are addressed through the adaptive Kriging models and the particle swarm optimization(PSO)method to quantify the uncertain parameters,and the IMU is accomplished.During the construction of these adaptive Kriging models,the sample space is gridded according to sensitivity information.Local sampling is then performed in key subspaces based on the maximum mean square error(MMSE)criterion.The interval division coefficient and random sampling coefficient are adaptively adjusted without human interference until the model meets accuracy requirements.The effectiveness of the proposed method is demonstrated by a numerical example of a three-degree-of-freedom mass-spring system and an experimental example of a butted cylindrical shell.The results show that the updated results of the interval model are in good agreement with the experimental results.

Complex adaptive system theory,agent-based modeling,and simulation in dominant technology formation

Dominant technology formation is the key for the hightech industry to“cross the chasm”and gain an established foothold in the market(and hence disrupt the regime).Therefore,a stimulus-response model is proposed to investigate the dominant technology by exploring its formation process and mechanism.Specifically,based on complex adaptive system theory and the basic stimulus-response model,we use a combination of agent-based modeling and system dynamics modeling to capture the interactions between dominant technology and the socio-technical landscape.The results indicate the following:(i)The dynamic interaction is“stimulus-reaction-selection”,which promotes the dominant technology’s formation.(ii)The dominant technology’s formation can be described as a dynamic process in which the adaptation intensity of technology standards increases continuously until it becomes the leading technology under the dual action of internal and external mechanisms.(iii)The dominant technology’s formation in the high-tech industry is influenced by learning ability,the number of adopting users and adaptability.Therein,a“critical scale”of learning ability exists to promote the formation of leading technology:a large number of adopting users can promote the dominant technology’s formation by influencing the adaptive response of technology standards to the socio-technical landscape and the choice of technology standards by the socio-technical landscape.There is a minimum threshold and a maximum threshold for the role of adaptability in the dominant technology’s formation.(iv)The socio-technical landscape can promote the leading technology’s shaping in the high-tech industry,and different elements have different effects.This study promotes research on the formation mechanism of dominant technology in the high-tech industry,presents new perspectives and methods for researchers,and provides essential enlightenment for managers to formulate technology strategies.

Multiple model PHD filter for tracking sharply maneuvering targets using recursive RANSAC based adaptive birth estimation

An algorithm to track multiple sharply maneuvering targets without prior knowledge about new target birth is proposed. These targets are capable of achieving sharp maneuvers within a short period of time, such as drones and agile missiles.The probability hypothesis density (PHD) filter, which propagates only the first-order statistical moment of the full target posterior, has been shown to be a computationally efficient solution to multitarget tracking problems. However, the standard PHD filter operates on the single dynamic model and requires prior information about target birth distribution, which leads to many limitations in terms of practical applications. In this paper,we introduce a nonzero mean, white noise turn rate dynamic model and generalize jump Markov systems to multitarget case to accommodate sharply maneuvering dynamics. Moreover, to adaptively estimate newborn targets’information, a measurement-driven method based on the recursive random sampling consensus (RANSAC) algorithm is proposed. Simulation results demonstrate that the proposed method achieves significant improvement in tracking multiple sharply maneuvering targets with adaptive birth estimation.

Adaptive Random Effects/Coefficients Modeling

Adaptive fractional polynomial modeling of general correlated outcomes is formulated to address nonlinearity in means, variances/dispersions, and correlations. Means and variances/dispersions are modeled using generalized linear models in fixed effects/coefficients. Correlations are modeled using random effects/coefficients. Nonlinearity is addressed using power transforms of primary (untransformed) predictors. Parameter estimation is based on extended linear mixed modeling generalizing both generalized estimating equations and linear mixed modeling. Models are evaluated using likelihood cross-validation (LCV) scores and are generated adaptively using a heuristic search controlled by LCV scores. Cases covered include linear, Poisson, logistic, exponential, and discrete regression of correlated continuous, count/rate, dichotomous, positive continuous, and discrete numeric outcomes treated as normally, Poisson, Bernoulli, exponentially, and discrete numerically distributed, respectively. Example analyses are also generated for these five cases to compare adaptive random effects/coefficients modeling of correlated outcomes to previously developed adaptive modeling based on directly specified covariance structures. Adaptive random effects/coefficients modeling substantially outperforms direct covariance modeling in the linear, exponential, and discrete regression example analyses. It generates equivalent results in the logistic regression example analyses and it is substantially outperformed in the Poisson regression case. Random effects/coefficients modeling of correlated outcomes can provide substantial improvements in model selection compared to directly specified covariance modeling. However, directly specified covariance modeling can generate competitive or substantially better results in some cases while usually requiring less computation time.

Assistive Devices and Clothing: Exploring Adaptive Clothing Needs for Women with Lower Limb Prostheses Using the FEA Model

This study aimed to comprehensively investigate the essential considerations in designing adaptive clothing for women with lower limb prostheses in Saudi Arabia. Employing a qualitative methodology, the research entailed semi-structured, in-depth interviews with women utilizing lower limb prostheses and prosthetic specialists. This approach was selected to unearth pivotal design prerequisites and comprehend the specific challenges these women encounter within the realm of clothing. The utilization of selective sampling facilitated the collection of intricate and valuable insights. A Functional, Expressive, and Aesthetic (FEA) User Needs model was utilized to scrutinize participant feedback. Functional requisites encompass ease of dressing and undressing, accessibility to the prosthetic limb, comfort, mobility with the prosthesis, and appropriate fit. Additionally, participants highlighted various expressive needs, including privacy preservation, modesty, camouflaging disability appearances, maintaining alignment with non-disabled women’s fashion, and considerations about the aesthetic aspects of garments.

A Lane Change Model Considering the Stability of Cooperative Adaptive Cruise Control Platoon Fleet

In this article,lane change models for mixed traffic flow under cooperative adaptive cruise control(CACC)platoon formation are established.The analysis begins by examining the impact of lane changes on traffic flow stability.The influences of various factors such as lane change locations,timing,and the current traffic state on stability are discussed.In this analysis,it is assumed that the lane change location and the entry position in the adjacent lane have already been selected,without considering the specific intention behind the lane change.The speeds of the involved vehicles are adjusted based on an existing lane change model,and various conditions are analyzed for traffic flow disturbances,including duration,shock amplitude,and driving delays.Numerical calculations are provided to illustrate these effects.Additionally,traffic flow stability is factored into the lane change decision-making process.By incorporating disturbances to the fleet into the lane change income model,both a lane change intention model and a lane change execution model are constructed.These models are then compared with a model that does not account for stability,leading to the corresponding conclusions.

Phase-field modeling of dendritic growth under forced flow based on adaptive finite element method

A mathematical model combined projection algorithm with phase-field method was applied. The adaptive finite element method was adopted to solve the model based on the non-uniform grid, and the behavior of dendritic growth was simulated from undercooled nickel melt under the forced flow. The simulation results show that the asymmetry behavior of the dendritic growth is caused by the forced flow. When the flow velocity is less than the critical value, the asymmetry of dendrite is little influenced by the forced flow. Once the flow velocity reaches or exceeds the critical value, the controlling factor of dendrite growth gradually changes from thermal diffusion to convection. With the increase of the flow velocity, the deflection angle towards upstream direction of the primary dendrite stem becomes larger. The effect of the dendrite growth on the flow field of the melt is apparent. With the increase of the dendrite size, the vortex is present in the downstream regions, and the vortex region is gradually enlarged. Dendrite tips appear to remelt. In addition, the adaptive finite element method can reduce CPU running time by one order of magnitude compared with uniform grid method, and the speed-up ratio is proportional to the size of computational domain.

Adaptive moving target detection algorithm based on Gaussian mixture model

In order to enhance the reliability of the moving target detection, an adaptive moving target detection algorithm based on the Gaussian mixture model is proposed. This algorithm employs Gaussian mixture distributions in modeling the background of each pixel. As a result, the number of Gaussian distributions is not fixed but adaptively changes with the change of the pixel value frequency. The pixels of the difference image are divided into two parts according to their values. Then the two parts are separately segmented by the adaptive threshold, and finally the foreground image is obtained. The shadow elimination method based on morphological reconstruction is introduced to improve the performance of foreground image＇s segmentation. Experimental results show that the proposed algorithm can quickly and accurately build the background model and it is more robust in different real scenes.

MODEL REFERENCE ADAPTIVE CONTROL BASED ON NONLINEAR COMPENSATION FOR TURBOFAN ENGINE

The design of a turbofan rotor speed control system, using model reference adaptive control（MRAC） method with input and output measurements, is discussed for the purpose of practical application. The nonlinear compensator based on functional link neural network is used to deal with the engine nonlinearity and the hardware-in-loop simulation is also developed. The results show that the nonlinear MRAC controller has the adequate performance of compensating and adapting nonlinearity arising from the change of engine state or working environment. Such feature demonstrates potential practical applications of MRAC for aeroengine control system.

Applicahon of a Simplified Model Reference Adaptive Algorithm

The application of a simplifed model reference adaptive control(SMRAC) on a typical Pump controlled motor electrohydraulic servo system is studied here. The algorithm of first-order scalar SMRAC ac second-order vector SMRAC are derived. Computer simulations of the algorithms are presented. Experimental results prove that the method of control adopted here perform satisfactorily over a wide range of operating conditions.

Adaptive Volterra series model for nonlinear sensor compensation

A novel performance enhancement method of nonlinear sensor based on the Volterra series model is proposed. The Volterra series model, which is considered a nonlinear filter that can reduce sensor noise, presents an effective way for modeling and compensating a nonlinear sensor. In the experiment, the low accuracy pressure sensor MPX10 was used as the actual object, and higher accuracy sensor MPX2010 was used as the reference to provide the necessary teaching data for training the Volterra model. The simulation shows that the accuracy of MPX10 changes from 0.354-0.420 to 0.041-0.053 after the Volterra filter is applied. Obviously this scheme can effectively improve the sensor performance. Moreover, the scheme provides greater accuracy and environmental suitability for a nonlinear sensor.

MICROPROCESSOR BASED MODEL FOLLOWING ADAPTIVE CONTROL SYSTEM FOR CSIM DRIVES

A model following adaptive control system for CSIM is presented in this paper. A dynamic mathematical model of slip control based system is obtained. With the help of model reducing technique, full order model is reduced to simplify the design without degrading much of the performance. Model following adaptive control laws in discrete form are derived. These laws satisfy the hyperstability condition for taking care of the load and machine parameter changes of the drive. A microprocessor 8098 is used to develop the speed controller. The implementation of the control system uses only available variables of the reference model and the controlled plant. Experimental results are given to demonstrate the good performance of the system.

Design of a Kind of Model Reference Adaptive Missile Control System

Aim To present an adaptive missile control system adaped to the external disturbance and the mobility of target movement. Methods Model reference adaptive control (MRAC) was applied and modified in the light of the traits of the anti tank missile. Results Simulation results demonstrated this control system satisfied the requirement of anti tank missile of dive overhead attack. Conclusion It is successful to use MRAC in missile control system design, the quality is better than that designed by classical control theory.

Adaptive Robust Motion Trajectory Tracking Control of Pneumatic Cylinders with LuGre Model-based Friction Compensation

Friction compensation is particularly important for motion trajectory tracking control of pneumatic cylinders at low speed movement. However, most of the existing model-based friction compensation schemes use simple classical models, which are not enough to address applications with high-accuracy position requirements. Furthermore, the friction force in the cylinder is time-varying, and there exist rather severe unmodelled dynamics and unknown disturbances in the pneumatic system. To deal with these problems effectively, an adaptive robust controller with LuGre model-based dynamic friction compensation is constructed. The proposed controller employs on-line recursive least squares estimation（RLSE） to reduce the extent of parametric uncertainties, and utilizes the sliding mode control method to attenuate the effects of parameter estimation errors, unmodelled dynamics and disturbances. In addition, in order to realize LuGre model-based friction compensation, the modified dual-observer structure for estimating immeasurable friction internal state is developed. Therefore, a prescribed motion tracking transient performance and final tracking accuracy can be guaranteed. Since the system model uncertainties are unmatched, the recursive backstepping design technology is applied. In order to solve the conflicts between the sliding mode control design and the adaptive control design, the projection mapping is used to condition the RLSE algorithm so that the parameter estimates are kept within a known bounded convex set. Finally, the proposed controller is tested for tracking sinusoidal trajectories and smooth square trajectory under different loads and sudden disturbance. The testing results demonstrate that the achievable performance of the proposed controller is excellent and is much better than most other studies in literature. Especially when a 0.5 Hz sinusoidal trajectory is tracked, the maximum tracking error is 0.96 mm and the average tracking error is 0.45 mm. This paper constructs an adaptive robust controller which can compensate the friction force in the cylinder.

Model Based Adaptive Control and Disturbance Compensation for Underwater Vehicles

Underwater vehicles are being emphasized as highly integrated and intelligent devices for a significant number of oceanic operations. However, their precise operation is usually hindered by disturbances from a tether or manipulator because their propellers are unable to realize a stable suspension. A dynamic multi-body model-based adaptive controller was designed to allow the controller of the vehicle to observe and compensate for disturbances from a tether or manipulator. Disturbances, including those from a tether or manipulator, are deduced for the observation of the controller. An analysis of a tether disturbance covers the conditions of the surface, the underwater area, and the vehicle end point. Interactions between the vehicle and manipulator are mainly composed of coupling forces and restoring moments.To verify the robustness of the controller, path-following experiments on a streamlined autonomous underwater vehicle experiencing various disturbances were conducted in Song Hua Lake in China. Furthermore,path-following experiments for a tethered open frame remote operated vehicle were verified for accurate cruising with a controller and an observer, and vehicle and manipulator coordinate motion control during the simulation and experiments verified the effectiveness of the controller and observer for underwater operation. This study provides instructions for the control of an underwater vehicle experiencing disturbances from a tether or manipulator.

Adaptive Maneuvering Frequency Method of Current Statistical Model

Current statistical model(CSM) has a good performance in maneuvering target tracking. However, the fixed maneuvering frequency will deteriorate the tracking results, such as a serious dynamic delay, a slowly converging speedy and a limited precision when using Kalman filter(KF) algorithm. In this study, a new current statistical model and a new Kalman filter are proposed to improve the performance of maneuvering target tracking. The new model which employs innovation dominated subjection function to adaptively adjust maneuvering frequency has a better performance in step maneuvering target tracking, while a fluctuant phenomenon appears. As far as this problem is concerned, a new adaptive fading Kalman filter is proposed as well. In the new Kalman filter, the prediction values are amended in time by setting judgment and amendment rules,so that tracking precision and fluctuant phenomenon of the new current statistical model are improved. The results of simulation indicate the effectiveness of the new algorithm and the practical guiding significance.

MULTIVARIABLE MODEL REFERENCE ADAPTIVE CONTROL FOR A TURBOFAN ENGINE

A decentralized model reference adaptive control (MRAC) scheme is proposed and applied to design a multivariable control system of a dual-spool turbofan engine.Simulation studies show good static and dynamic performance of the system over the fullflight envelope. Simulation results also show the good effectiveness of reducing interactionin the multivariable system with significant coupling. The control system developed has awide frequency band to satisfy the strict engineering requirement and is practical for engineering applications.

Decentralized model reference adaptive sliding mode control based on fuzzy model

A new design scheme of decentralized model reference adaptive sliding mode controller for a class of MIMO nonlinear systems with the high-order interconnections is propcsed. The design is based on the universal approximation capability of the Takagi - Seguno （T-S） fuzzy systems. Motivated by the principle of certainty equivalenteontrol, a decentralized adaptive controller is designed to achieve the tracking objective without computafion of the T-S fuzz ymodel. The approach does not require the upper bound of the uncertainty term to be known through some adaptive estimation. By theoretical analysis, the closed-loop fuzzy control system is proven to be globally stable in the sense that all signalsinvolved are bounded, with tracking errors converging to zero. Simulation results demonstrate the effectiveness of the approach.

Robust Adaptive Gain Higher Order Sliding Mode Observer Based Control-constrained Nonlinear Model Predictive Control for Spacecraft Formation Flying

This work deals with the development of a decentralized optimal control algorithm, along with a robust observer,for the relative motion control of spacecraft in leader-follower based formation. An adaptive gain higher order sliding mode observer has been proposed to estimate the velocity as well as unmeasured disturbances from the noisy position measurements.A differentiator structure containing the Lipschitz constant and Lebesgue measurable control input, is utilized for obtaining the estimates. Adaptive tuning algorithms are derived based on Lyapunov stability theory, for updating the observer gains,which will give enough flexibility in the choice of initial estimates.Moreover, it may help to cope with unexpected state jerks. The trajectory tracking problem is formulated as a finite horizon optimal control problem, which is solved online. The control constraints are incorporated by using a nonquadratic performance functional. An adaptive update law has been derived for tuning the step size in the optimization algorithm, which may help to improve the convergence speed. Moreover, it is an attractive alternative to the heuristic choice of step size for diverse operating conditions. The disturbance as well as state estimates from the higher order sliding mode observer are utilized by the plant output prediction model, which will improve the overall performance of the controller. The nonlinear dynamics defined in leader fixed Euler-Hill frame has been considered for the present work and the reference trajectories are generated using Hill-Clohessy-Wiltshire equations of unperturbed motion. The simulation results based on rigorous perturbation analysis are presented to confirm the robustness of the proposed approach.