Time-varying parameters estimation with adaptive neural network EKF for missile-dual control system

In this paper, a filtering method is presented to estimate time-varying parameters of a missile dual control system with tail fins and reaction jets as control variables. In this method, the long-short-term memory(LSTM) neural network is nested into the extended Kalman filter(EKF) to modify the Kalman gain such that the filtering performance is improved in the presence of large model uncertainties. To avoid the unstable network output caused by the abrupt changes of system states,an adaptive correction factor is introduced to correct the network output online. In the process of training the network, a multi-gradient descent learning mode is proposed to better fit the internal state of the system, and a rolling training is used to implement an online prediction logic. Based on the Lyapunov second method, we discuss the stability of the system, the result shows that when the training error of neural network is sufficiently small, the system is asymptotically stable. With its application to the estimation of time-varying parameters of a missile dual control system, the LSTM-EKF shows better filtering performance than the EKF and adaptive EKF(AEKF) when there exist large uncertainties in the system model.

Adaptive unscented Kalman filter for parameter and state estimation of nonlinear high-speed objects

An adaptive unscented Kalman filter （AUKF） and an augmented state method are employed to estimate the timevarying parameters and states of a kind of nonlinear high-speed objects. A strong tracking filter is employed to improve the tracking ability and robustness of unscented Kalman filter （UKF） when the process noise is inaccuracy, and wavelet transform is used to improve the estimate accuracy by the variance of measurement noise. An augmented square-root framework is utilized to improve the numerical stability and accuracy of UKF. Monte Carlo simulations and applications in the rapid trajectory estimation of hypersonic artillery shells confirm the effectiveness of the proposed method.

Joint state and parameter estimation in particle filtering and stochastic optimization

In this paper, an adaptive estimation algorithm is proposed for non-linear dynamic systems with unknown static parameters based on combination of particle filtering and Simultaneous Perturbation Stochastic Approxi- mation （SPSA） technique. The estimations of parameters are obtained by maximum-likelihood estimation and sampling within particle filtering framework, and the SPSA is used for stochastic optimization and to approximate the gradient of the cost function. The proposed algorithm achieves combined estimation of dynamic state and static parameters of nonlinear systems. Simulation result demonstrates the feasibilitv and efficiency of the proposed algorithm

Scaling parameters selection principle for the scaled unscented Kalman filter

The paper deals with the state estimation of the widely used scaled unscented Kalman filter（UKF）. In particular, the stress is laid on the scaling parameters selection principle for the scaled UKF. Several problems caused by recommended constant scaling parameters are highlighted. On the basis of the analyses, an effective scaled UKF is proposed with self-adaptive scaling parameters,which is easy to understand and implement in engineering. Two typical strong nonlinear examples are given and their simulation results show the effectiveness of the proposed principle and algorithm.

Comparison of linear and nonlinear aerodynamic parameter estimation approaches for an unmanned aerial vehicle using unscented Kalman filter

Aerodynamic parameter estimation provides an effective way for aerospace system modeling using measured data from flight tests, especially for the purpose of developing elaborate simulation environments and designing control systems of unmanned aerial vehicle （UAV） with short design cycles and reduced cost. However, parameter identification of airplane dynamics by nonlinear mod- els is complicated because of the noisy and biased sensor measurements. Using linear models for system identification is an alternative way if the fidelity can be guaranteed, as control design procedures are better established in linear systems. This paper considers the application and comparison of linear as well as nonlinear aerodynamic parameter estimation approaches of an UAV using unscented Kalman filter （UKF）. It also highlights the degree of deterioration of the linear model in the UKF identification process. The results show that both the linear and nonlinear methodologies can accurately estimate the control system design. Furthermore, considering loss of accuracy to be negligible, the linear model can be employed for control design of the UAV as presented here.

Effect of the Design Parameters on the Performance of Inner-Recycling Continuous Sand Filter

A novel integrated water treatment facility, inner-recycling continuous sand filter, is discussed. The theory of micro-flocculation is applied in the sand-washing circulation system with continuous filtration and backwashing. The design and operation parameters, which affect the performance of the filter, are discussed. The key design parameters are provided as follows: diameter of filter material is 0.7 to 1.0 mm, depth of filter bed is 0.6 m, filtration velocity is less than 12 m/h, ratio of gas to water is 9:11 and sand recycling rate is 2 to 4 mm/min.

Recognition of Frequency Modulation Signal Using Parameter Invariant Filter

To classify the frequency modulation signal, this paper employs a parameter invariant filter, which can transfer the frequency modulated information to variety of its envelope, and then extracts the histogram feature to classify the modulation type. This method can efficiently classify the type of a signal such as frequency modulation （FM）, binary frequency shift keyiing （BFSK）, quadrature frequency shift keying （QFSK）, 8-ary frequency shift keying （8FSK）, etc. It can easily be realized and is especially suitable to applications in software radio.

Robust H-infinity filtering for time-delaysystems with missing measurements:a parameter-dependent approach

Robust H-infinity filtering for a class of uncertain discrete-time linear systems with time delays and missing measurements is studied in this paper. The uncertain parameters are supposed to reside in a convex polytope and the missing measurements are described by a binary switching sequence satisfying a Bernoulli distribution. Our attention is focused on the analysis and design of robust H-infinity filters such that, for all admissible parameter uncertainties and all possible missing measurements, the filtering error system is exponentially mean-square stable with a prescribed H-infinity disturbance attenuation level. A parameter-dependent approach is proposed to derive a less conservative result. Sufficient conditions are established for the existence of the desired filter in terms of certain linear matrix inequalities （LMIs）. When these LMIs are feasible, an explicit expression of the desired filter is also provided. Finally, a numerical example is presented to illustrate the effectiveness and applicability of the proposed method.

Robust guaranteed cost filtering for uncertain timedelay systems with Markovian jumping parameters

The robust guaranteed cost filtering problem for a dass of linear uncertain stochastic systems with time delays is investigated. The system under study involves time delays, jumping parameters and Brownian motions. The transition of the jumping parameters in systems is governed by a finite-state Markov process. The objective is to design linear memoryless filters such that for all uncertainties, the resulting augmented system is robust stochastically stable independent of delays and satisfies the proposed guaranteed cost performance. Based on stability theory in stochastic differential equations, a sufficient condition on the existence of robust guaranteed cost filters is derived. Robust guaranteed cost filters are designed in terms of linear matrix inequalities. A convex optimization problem with LMI constraints is formulated to design the suboptimal guaranteed cost filters.

Research on Parameter Optimization in Collaborative Filtering Algorithm

Collaborative filtering algorithm is the most widely used and recommended algorithm in major e-commerce recommendation systems nowadays. Concerning the problems such as poor adaptability and cold start of traditional collaborative filtering algorithms, this paper is going to come up with improvements and construct a hybrid collaborative filtering algorithm model which will possess excellent scalability. Meanwhile, this paper will also optimize the process based on the parameter selection of genetic algorithm and demonstrate its pseudocode reference so as to provide new ideas and methods for the study of parameter combination optimization in hybrid collaborative filtering algorithm.

Combined Estimation of Vehicle Dynamic State and Inertial Parameter for Electric Vehicles Based on Dual Central Difference Kalman Filter Method

Distributed drive electric vehicles(DDEVs)possess great advantages in the viewpoint of fuel consumption,environment protection and traffic mobility.Whereas the effects of inertial parameter variation in DDEV control system become much more pronounced due to the drastic reduction of vehicle weights and body size,and inertial parameter has seldom been tackled and systematically estimated.This paper presents a dual central difference Kalman filter(DCDKF)where two Kalman filters run in parallel to simultaneously estimate vehicle different dynamic states and inertial parameters,such as vehicle sideslip angle,vehicle mass,vehicle yaw moment of inertia,the distance from the front axle to centre of gravity.The proposed estimation method only integrates and utilizes real-time measurements of hub torque information and other in-vehicle sensors from standard DDEVs.The four-wheel nonlinear vehicle dynamics estimation model considering payload variations,Pacejka tire model,wheel and motor dynamics model is developed,the observability of the DCDKF observer is analysed and derived via Lie derivative and differential geometry theory.To address system nonlinearities in vehicle dynamics estimation,the DCDKF and dual extended Kalman filter(DEKF)are also investigated and compared.Simulation with various maneuvers are carried out to verify the effectiveness of the proposed method using Matlab/Simulink-CarsimR.The results show that the proposed DCDKF method can effectively estimate vehicle dynamic states and inertial parameters despite the existence of payload variations and variable driving conditions.This research provides a boot-strapping procedure which can performs optimal estimation to estimate simultaneously vehicle system state and inertial parameter with high accuracy and real-time ability.

Parameters identification of the compound cage rotor induction machine based on linearized Kalman filtering

A mathematical model has been built up for compound cage rotor induction machine with the rotor resistance and leakage inductance in the model identified through Kalman filtering method. Using the identified parameters, simulation studies are performed, and simulation results are compared with testing results.

Modified robust finite-horizon filter for discrete-time systems with parameter uncertainties and missing measurements

A robust finite-horizon Kalman filter is designed for linear discrete-time systems subject to norm-bounded uncertainties in the modeling parameters and missing measurements.The missing measurements were described by a binary switching sequence satisfying a conditional probability distribution,the commonest cases in engineering,such that the expectation of the measurements could be utilized during the iteration process.To consider the uncertainties in the system model,an upperbound for the estimation error covariance was obtained since its real value was unaccessible.Our filter scheme is on the basis of minimizing the obtained upper bound where we refer to the deduction of a classic Kalman filter thus calculation of the derivatives are avoided.Simulations are presented to illustrate the effectiveness of the proposed approach.

Parameters estimate of recurrent quantum stochastic filter for time variant frequency periodic signals

Designing optimal time and spatial difference step size is the key technology for quantum-random filtering(QSF)to realize time-varying frequency periodic signal filtering.In this paper,it was proposed to use the short-time Fourier transform(STFT)to dynamically estimate the signal to noise ratio(SNR)and relative frequency of the input time-varying frequency periodic signal.Then the model of time and space difference step size and signal to noise ratio(SNR)and relative frequency of quantum random filter is established by least square method.Finally,the parameters of the quantum filter can be determined step by step by analyzing the characteristics of the actual signal.The simulation results of single-frequency signal and frequency time-varying signal show that the proposed method can quickly and accurately design the optimal filter parameters based on the characteristics of the input signal,and achieve significant filtering effects.

Research on main circuit parameter coupling relationship of single-phase shunt active power filter

There is a certain coupling relationship among the main circuit parameters of a single-phase shunt active power filter(SAPF),which has a great influence on the reasonable selection of various parameter values.By analyzing the calculation methods of the inductance of alternating current(AC)side and the voltage and capacitance values of direct current(DC)side in the existing single/three-phase SAPF main circuit,a specific single-phase SAPF circuit parameter analytical expression was obtained.Aiming at the coupling relationship among the variables in the resulting expression,the model was optimized and analyzed in MATLAB,and a complete set of parameters design scheme was obtained,which ensure the comprehensive optimization target of the post-harmonic content below 2% is compensated under a specific load.The simulation and experimental procedures verify the correctness of the selected parameters.

Model Predictive Direct Torque Control of Permanent Magnet Synchronous Motor (PMSM) with Online Parameter Estimation Based on Extended Kalman Filter

Aiming at the torque and flux ripples in the direct torque control and the time-varying parameters for permanent magnet synchronous motor (PMSM), a model predictive direct torque control with online parameter estimation based on the extended Kalman filter for PMSM is designed. By predicting the errors of torque and flux based on the model and the current states of the system, the optimal voltage vector is selected to minimize the error of torque and flux. The stator resistance and inductance are estimated online via EKF to reduce the effect of model error and the current estimation can reduce the error caused by measurement noise. The stability of the EKF is proved in theory. The simulation experiment results show the method can estimate the motor parameters, reduce the torque, and flux ripples and improve the performance of direct torque control for permanent magnet synchronous motor (PMSM).

Robust L_1 filtering with pole constraint in a disk via parameter-dependent Lyapunov functions

The problem of robust L 1 filtering with pole constraint in a disk for linear continuous polytopic uncertain systems is discussed. The attention is focused on design a linear asymptotically stable filter such that the filtering error system remains robustly stable, and has a L 1 performance constraint and pole constraint in a disk. The new robust L 1 performance criteria and regional pole placement condition are obtained via parameter-dependent Lyapunov functions method. Upon the proposed multiobjective performance criteria and by means of LMI technique, both full-order and reduced-order robust L 1 filter with suitable dynamic behavior can be obtained from the solution of convex optimization problems. Compared with earlier result in the quadratic framework, this approach turns out to be less conservative. The efficiency of the proposed technique is demonstrated by a numerical example.

2021年老挝M_(S)6.0地震序列研究

云南地震活动与周边强震存在“构造相连,动力同源”的特征,研究周边强震的序列演化特征及发震构造,对云南地区地震研究具有重要意义。2021年12月24日老挝M_(S)6.0地震发生在滇西南地区的NW向整董断裂附近,震源机制解显示,此次地震是一次走滑型破裂事件,破裂方向与区域构造特征一致。老挝M_(S)6.0地震序列属于前震-主震-余震型序列,主震前震中附近出现3~4级地震非常活跃的现象,前震序列参数计算显示b值波动相对幅度较大,h值出现“上翘”形态,而余震序列b值和h值变化均相对平稳,主震的同震库伦应力结果表明老挝地震可能对云南地区有应力加载作用。

Dynamics and adaptive control of a dual-arm space robot with closed-loop constraints and uncertain inertial parameters

A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the po- sition and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained system are derived by incorporating the constraint equations in terms of accelerations into Kane＇s equations of the unconstrained system. Model analysis shows that the resulting equations perfectly meet the requirement of adaptive controller design. Consequently, by using an indirect approach, an adaptive control scheme is proposed to accomplish position/attitude trajectory tracking control with the uncertain parameters be- ing estimated on-line. The actuator redundancy due to the closed-loop constraints is utilized to minimize a weighted norm of the joint torques. Global asymptotic stability is proven by using Lyapunov＇s method, and simulation results are also presented to demonstrate the effectiveness of the proposed approach.