robust adaptive dynamic programming for optimal nonlinear control design

... between objective functions for the given thermodynamic system, and another is to determine the optimal thermodynamic process for the given optimization objectives The former case belongs to a class ... significant influences on the performance of the given thermodynamic process [23-27], but also have influences on the optimal configurations of thermodynamic process for the given optimization objectives ... vector dimension of the optimal control problem is small, the numerical optimization conducted by the dynamic programming theory is very efficient Let the optimal performance objective of the problem

Ngày tải lên: 05/09/2013, 15:28

... based on dynamic programming FPGA Input buffer DDR2 DMA Accelerator Nios II data streaming control SRAM buffer DMA SLS-USB20 IP core Host computer labVIEW Figure 11: Hardware platform for the evaluation ... SAD and the proposed version of dynamic programming stereo algorithm is given The hardware design of both systems is presented In Section the hardware/software platform used to prototype and assess ... Principles Dynamic programming for stereo is mathematically and computationally more complex than local correlation methods, since stereo correspondence is derived as a globally optimum solution for

Ngày tải lên: 21/06/2014, 19:20

... freedom as the inner axis for the test vehicle VaMoRs, designed for driving on uneven ground... pointing ranges in yaw and pitch characterize the design Typical values for automotive applications ... Figure 3. 5 Two-axes gaze control for a given body orientation Depending on platform with large stereo base of ~ the missions to be performed, the size of 30 cm for VaMoRs Angular ranges: ... horizon, eventually, a constant angular position for one of the platform axes, and the potential for initiating a new plan for gaze direction control The demand of attention and the

Ngày tải lên: 10/08/2014, 02:20

... variables, usually, two for longitudinal control and one for lateral control, the steering system. Longitudinal control is achieved by actuating either fuel injection (for acceleration or mild ... experi- ence will have shown that certain control time histories perform better than others. It is essential knowledge for good or even optimal control of dynamic systems to know, in which situations ... feedback control in systems dynamics and control engineering: 1. Feed-forward components U ff derived from a deeper understanding of the proc- ess controlled and the maneuver to be performed.

Ngày tải lên: 10/08/2014, 02:20

... Situations 4.3.3 Rule Systems for Decision-Making Perception systems for driver assistance or for autonomous vehicle guidance will need very similar sets of rules for the perception part ... system: The first one for perception (control of gaze direction and attention) has to be available for both types of systems In addition,... Behavior Decision for Gaze and Attention; ... soon for real-time application Avoiding these areas with a relatively large safety margin may be sufficient for driver assistance and even for autonomous driving Some nice results for

Ngày tải lên: 10/08/2014, 02:20

... on one side of the edge. This information may be used for recognizing a specific edge feature in consecutive images or for grouping edges in a scene context. For larger mask depths, it is more ... subscale resolution for dynamic vision lies in the fact that the onset of changes in motion behavior may be detected earlier, yield- ing better tracking performance, crucial for some applications. ... ErrMax 5% are recommended as default for reducing computer load, on the one hand, and for keeping good candidates for corners, on the... representations For computing gradients, of course,

Ngày tải lên: 10/08/2014, 02:20

... the ratio compBlob 2 encbox / D RSA . (b) For close to rectangular shapes it is close to 1; for circles it is ʌ/4, for a triangle it is 0.5, and for an oblique wide line it tends toward 0. ... of in- formation is now available for analyzing the distribution of image intensities to ad- just parameters for image processing to lighting conditions [Hofmann 2004]. For each image stripe, ... been introduced for the interpretation of 3-D motion of physical objects observed and for control. .. situation and have to be taken into account for decision-making 6 Recursive

Ngày tải lên: 10/08/2014, 02:20

... world and for perspective mapping (including motion blur!) have to be kept in mind when designing a high-performance dynamic vision system. Provisions to be implemented for intelligent control ... form via the Householder transformation is done; then recursive elimination is performed. Especially in the stabilized form (Equation 6.18, called the “Joseph”-form), computing load is considerable. ... Estimation Techniques for Dynamic Vision 199 1 ˆ () *() (), 1 ˆ x kxkdxk  (improved estimate for the state) (improved error covariance matrix). 1011 PPkcP  0 (6.31) For the I–th partial

Ngày tải lên: 10/08/2014, 02:20

... here for the example of recognizing roads with lanes. Since motion control affects conditions for visual observation and is part of autonomous system design in closed-loop form, the motion control ... for recursive estimation of road parameters from Chapter 7: Dynamic models (to be turned into discrete form for sampled data videointerpretation), measurement model, and relations for. ... and in stripe 5 (for higher robustness), has the image coordinates y BP = 11 and z BP = í88 pixels. With Equation 8.5, this yields a yaw angle of ȥ§ 2° and with Equation 7.40 for L f ĺ, a pitch

Ngày tải lên: 10/08/2014, 02:20

... with the feedback gain matrix yields optimal control for linear systems. There simply is no more efficient cycle for perception and action in closed-loop form. 9.1.2 Elements of the Jacobian ... 3.7) for the specific cycle time used in imaging (40 ms for CCIR and 33 1/3 for NTSC). Since speed V enters the elemental expressions at several places, the elements of the transition and control ... conditions and for decision-making in vehicle guidance. First, the dynamic model has to be adapted to sampled data measurement by trans- forming it into a state transition matrix A and the control

Ngày tải lên: 10/08/2014, 02:20

... inputs derived both to gaze control (center bottom, real feedback) and for control of. .. Simulation computer controller Two-axis gaze platform cameras environment gaze control Three-axis ... neglected for precise steering 10.2 Theoretical Background Before the integrated performance of the maneuver can be discussed, performance elements for motion control of the vehicle (Section ... (Section 10.2.1), for gaze control (Section 10.2.2), and for recursive... deviations to zero For the final part of the maneuver, the feed-forward control input may be dropped altogether

Ngày tải lên: 10/08/2014, 02:20

... processes and for visual perception (road tracking RT), for symbolic information exchange (dynamic data base), for vehicle control (VC), and for gaze control by a two-axis platform (PL) on the ... e.g., for gaze control, for reading conventional measurement data, for frame grabbing from parallel video streams, for feature extraction, for recursive estimation (several parallel processes), for ... is used for hypothesis generation and -checking, for recursive estimation as well as for state prediction, used for forward perspective projection (“imagination”) and for intelligent control

Ngày tải lên: 10/08/2014, 02:20

... that formed the base for the other components for viewing direction control [Schiehlen 1995], for situation assessment [Hock 1994], for behavior decision [Maurer 2000], and for ... systems for Automatic Cruise Control (ACC) came on the market based on radar for distance... for 3-D shape during motion [Schick 1992], for moving humans [Kinzel 1995], and for signal ... lenge for good performance. For tanker vehicles and low standing sun, the ap- proach very likely does not work. In this case, the big volume above the wheels may require area-based features for robust

Ngày tải lên: 10/08/2014, 02:20

... background for judg- ing the quality and trustworthiness of sensor data and interpretations on the lower levels. Therefore, the lower levels may receive inputs for adapting parameters or for controlling ... gaze control platform Rotated mirror with high-bandwidth pitch angle control for gaze direction Stereo baseline reflecting the lens of the vertically mounted tele-camera (fix on platform ... processing for correlation uses this approach successfully, e.g., [Burt 1981; Mandel- baum et al. 1998] . This approach may be promising for robust blob- and corner tracking and for spatiotemporal

Ngày tải lên: 10/08/2014, 02:20

... indicate, under which pan (platform yaw) angles the crossroad can be seen [(g) for optimal, (h) for still acceptable mapping]. Graph (i) shows the allowable range for gaze direction so that the ... special conditions: For example, at rest, engine or suspension system pa- rameters may be tuned; but they are not control variables steadily available for sys- tem control. ) The control variables ... a side aspect for any control decision. In the extreme, this can be condensed into the formulation that intelligence is the mental framework developed for arriving at the best control decisions

Ngày tải lên: 10/08/2014, 02:20

... optimization using Dynamic Programming is known to produce the best quality plans thus enabling the execution of queries in optimal time. But Dynamic programming cannot be used for complex queries ... developed for enhanced memory efficiency and one of them has been found better suited to improve the performance of Iterative Dynamic Programming. 1 CHAPTER 1 INTRODUCTION 1.1 Motivation Dynamic Programming( DP) ... cover set for 8 query plan generation. The scheme is implemented in both Dynamic programming and Iterative Dynamic Programming. We describe our naive approach and a memory conscious one for improving

Ngày tải lên: 05/10/2015, 22:04

... not perform satisfactorily Many algorithms for nonlinear second order cone and nonlinear semidefinite programming have recently been proposed and found many applications in robust optimal control, ... theory for this approach and the applications to new problems For example, in robust control problem formulations as well as robust optimization formulations, where we consider the worst-case performance ... Noll, and P Apkarian, Robust control via sequential semidefinite programming, SIAM J Control Optim., 40 (2002), pp 1791–1820 [22] C Fleury, Sequential convex programming for structural optimization

Ngày tải lên: 16/12/2017, 03:05

... speed ðωfoakf Þ is used in closed-loop control to perform the sensorless con­ stant speed control The FOAKF-based sensorless closed-loop speed control perfor­ mances are shown in Figure at the ... suitable and adaptive for any load variation In the second work, FOAKF-based closed-loop speed control has been performed The results of this work indicate that the sensorless speed control of ... industrial task, various control approaches are used, in general emphasis is given to controlling the speed of the machines To achieve effective speed control, a closed-loop control system is used,

Ngày tải lên: 01/03/2024, 15:59

... the adaptive nonlinear optimal compensation controller is to make the torque closed-loop control output converge to zero So the control output of the adaptive nonlinear optimal compensation controller ... feed-forward and PID control for high speed aerospace actuator[12] S Chantranuwathana, et al presented the modular adaptive robust control (MARC) technique to improve the force control performance ... torque control system to zero as control object, this article designs the adaptive nonlinear optimal compensation control strategy, which regards torque control output of closed-loop controller

Ngày tải lên: 01/11/2022, 08:31

... process, unfortunately, the designed controller may severely degrade the system performance or even lead to its instability So far, much attention has been paid to controllers design for nonlinear ... robust control scheme for uncertain nonlinear systems with unknown input saturation Motivated by the aforementioned discussion, this article develops a new neural dynamic surface SMC scheme for ... to design the controller, in which only one simple NN is employed for approximating uncertain nonlinearities, and thus the complexity of controller design has been reduced With the proposed control

Ngày tải lên: 08/11/2022, 15:00