Fractional Gradient Descent RBFNN for Active Fault-Tolerant Control of Plant Protection UAVs

With the increasing prevalence of high-order systems in engineering applications, these systems often exhibitsignificant disturbances and can be challenging to model accurately. As a result, the active disturbance rejectioncontroller (ADRC) has been widely applied in various fields. However, in controlling plant protection unmannedaerial vehicles (UAVs), which are typically large and subject to significant disturbances, load disturbances andthe possibility of multiple actuator faults during pesticide spraying pose significant challenges. To address theseissues, this paper proposes a novel fault-tolerant control method that combines a radial basis function neuralnetwork (RBFNN) with a second-order ADRC and leverages a fractional gradient descent (FGD) algorithm.We integrate the plant protection UAV model’s uncertain parameters, load disturbance parameters, and actuatorfault parameters and utilize the RBFNN for system parameter identification. The resulting ADRC exhibits loaddisturbance suppression and fault tolerance capabilities, and our proposed active fault-tolerant control law hasLyapunov stability implications. Experimental results obtained using a multi-rotor fault-tolerant test platformdemonstrate that the proposed method outperforms other control strategies regarding load disturbance suppressionand fault-tolerant performance.

Quantum gradient descent algorithms for nonequilibrium steady states and linear algebraic systems

The gradient descent approach is the key ingredient in variational quantum algorithms and machine learning tasks,which is an optimization algorithm for finding a local minimum of an objective function.The quantum versions of gradient descent have been investigated and implemented in calculating molecular ground states and optimizing polynomial functions.Based on the quantum gradient descent algorithm and Choi-Jamiolkowski isomorphism,we present approaches to simulate efficiently the nonequilibrium steady states of Markovian open quantum many-body systems.Two strategies are developed to evaluate the expectation values of physical observables on the nonequilibrium steady states.Moreover,we adapt the quantum gradient descent algorithm to solve linear algebra problems including linear systems of equations and matrix-vector multiplications,by converting these algebraic problems into the simulations of closed quantum systems with well-defined Hamiltonians.Detailed examples are given to test numerically the effectiveness of the proposed algorithms for the dissipative quantum transverse Ising models and matrix-vector multiplications.

Gradient Descent Algorithm for Small UAV Parameter Estimation System

A gradient descent algorithm with adjustable parameter for attitude estimation is developed,aiming at the attitude measurement for small unmanned aerial vehicle(UAV)in real-time flight conditions.The accelerometer and magnetometer are introduced to construct an error equation with the gyros,thus the drifting characteristics of gyroscope can be compensated by solving the error equation utilized by the gradient descent algorithm.Performance of the presented algorithm is evaluated using a self-proposed micro-electro-mechanical system(MEMS)based attitude heading reference system which is mounted on a tri-axis turntable.The on-ground,turntable and flight experiments indicate that the estimation attitude has a good accuracy.Also,the presented system is compared with an open-source flight control system which runs extended Kalman filter(EKF),and the results show that the attitude control system using the gradient descent method can estimate the attitudes for UAV effectively.

The 260-W coherent beam combining of two compact fibre amplifier chains

Coherent beam combining of two fibre amplifier chains with a total power of 260 W in a compact system using the stochastic parallel gradient descent （SPGD） algorithm is demonstrated. A 150 MHz linewidth fibre laser is built and introduced for high-power amplification to mitigate stimulated Brillouin scattering （SBS）. Compact high-power amplifier chains are built with low power all-fibre system and high-power bulk free-optics fibre amplifiers. When the total power is about 260 W, active phase-locking of two high-power amplifiers is demonstrated using the SPGD algorithm. In closed-loop, the power in the main lobe increases 1.68 times, the visibility is increased from 0 to 0.62, and the phase residual error is less than λ/10.

Coherent beam combining of hybrid phase control in master oscillator-power amplifier configuration

A novel scalable architecture for coherent beam combining with hybrid phase control involving passive phasing and active phasing in master oscillator-power amplifier configuration is presented. Wide-linewidth mutually injected passive phasing fibre laser arrays serve as master oscillators for the power amplifiers, and the active phasing using stochastic parallel gradient descent algorithm is induced. Wide-linewidth seed laser can suppress the stimulated Brillouin scattering effectively and improve the output power of the fibre laser amplifier, while hybrid phase control provides a robust way for in-phase mode coherent beam combining simultaneously. Experiment is performed by active phasing fibre laser amplifiers with passive phasing fibre ring laser array seed lasers. Power encircled in the main-lobe increases1.57 times and long-exposure fringe contrast is obtained to be 78% when the system evolves from passive phasing to hybrid phasing.

A NATURAL GRADIENT ALGORITHM FOR THE SOLUTION OF LYAPUNOV EQUATIONS BASED ON THE GEODESIC DISTANCE

A new framework based on the curved Riemannian manifold is proposed to calculate the numerical solution of the Lyapunov matrix equation by using a natural gradient descent algorithm and taking the geodesic distance as the objective function. Moreover, a gradient descent algorithm based on the classical Euclidean distance is provided to compare with this natural gradient descent algorithm. Furthermore, the behaviors of two proposed algorithms and the conventional modified conjugate gradient algorithm are compared and demonstrated by two simulation examples. By comparison, it is shown that the convergence speed of the natural gradient descent algorithm is faster than both of the gradient descent algorithm and the conventional modified conjugate gradient algorithm in solving the Lyapunov equation.

Extrapolated Smoothing Descent Algorithm for Constrained Nonconvex and Nonsmooth Composite Problems

In this paper,the authors propose a novel smoothing descent type algorithm with extrapolation for solving a class of constrained nonsmooth and nonconvex problems,where the nonconvex term is possibly nonsmooth.Their algorithm adopts the proximal gradient algorithm with extrapolation and a safe-guarding policy to minimize the smoothed objective function for better practical and theoretical performance.Moreover,the algorithm uses a easily checking rule to update the smoothing parameter to ensure that any accumulation point of the generated sequence is an(afne-scaled)Clarke stationary point of the original nonsmooth and nonconvex problem.Their experimental results indicate the effectiveness of the proposed algorithm.

An advanced integrated framework for moving object tracking

This paper first introduces the concept of a geogram that captures richer features to represent the objects. The spatiogram contains some moments upon the coordinates of the pixels corresponding to each bin, while the geogram contains information about the perimeter of grouped regions in addition to features in the spatiogram.Then we consider that a convergence process of mean shift is divided into obvious dynamic and steady states,and introduce a hybrid technique of feature description, to control the convergence process. Also, we propose a spline resampling to control the balance between computational cost and accuracy of particle filtering. Finally, we propose a boosting-refining approach, which is boosting the particles positioned in the ill-posed condition instead of eliminating the ill-posed particles, to refine the particles. It enables the estimation of the object state to obtain high accuracy. Experimental results show that our approach has promising discriminative capability in comparison with the state-of-the-art approaches.

Performance Analysis of Hard Iterative Channel Estimation in Turbo Equalization

Reasonable bit error rate performance requires perfect channel state information （CSI） in traditional turbo equalization （TE）, which is hard to obtain in practice. Soft and hard iterative algorithms have been developed to address the channel estimation problem with the performance of the soft iteratwe channel estimate based on the recursive least square algorithm. This paper presents an analysis of the performance of hard iterative channel estimation （HICE） based on the least mean square algorithm. The analysis uses a cost function with the hard decision on the TE output. An iterative channel correction （ICC） algorithm based on the gradient descent algorithm is used to iteratively minimize the cost function. The simulation results agree with the theoretical lower bound for the mean square error （MSE） of the estimated channels. Simulations show that, given an imperfect CSI with an MSE below the upper bound, the linear minimum mean squared error TE （LMMSE-TE） using the ICC has only small performance degradation compared to that with a perfect CSI, while the traditional LMMSE-TE suffers from severe error floor effect even with more iterations.