Journal of Automation and Intelligence最新文献_第7页

Robust adaptive estimator based on a novel objective function—Using the L1-norm and L0-norm 基于新目标函数的鲁棒自适应估计——利用l1范数和l0范数

Journal of Automation and Intelligence Pub Date : 2023-05-01 DOI: 10.1016/j.jai.2023.06.004

Sihai Guan , Chuanwu Zhang , Guofu Wang , Bharat Biswal

{"title":"Robust adaptive estimator based on a novel objective function—Using the L1-norm and L0-norm","authors":"Sihai Guan , Chuanwu Zhang , Guofu Wang , Bharat Biswal","doi":"10.1016/j.jai.2023.06.004","DOIUrl":"https://doi.org/10.1016/j.jai.2023.06.004","url":null,"abstract":"<div><p>To fully take advantage of LMS, LMAT, and SELMS, a novel adaptive estimator using the L1-norm and L0-norm of the estimated error is proposed in this paper. Then based on minimizing the mean-square deviation at the current time, the optimal step-size, parameters <span><math><mi>δ</mi></math></span> and <span><math><mi>θ</mi></math></span> of the proposed adaptive estimator are obtained. Besides, the stability and computational complexity of the mean estimation error is analyzed theoretically. Experimental results (both simulation and real mechanical system datasets) show that the proposed adaptive estimator is more robust to input signals and a variety of measurement noises (Gaussian and non-Gaussian noises). In addition, it is superior to LMS, LMAT, SELMS, the convex combination of LMS and LMAT algorithm, the convex combination of LMS and SELMS algorithm, and the convex combination of SELMS and LMAT algorithm. The theoretical analysis is consistent with the Monte-Carlo results. Both of them show that the adaptive estimator has an excellent performance in the estimation of unknown linear systems under various measurement noises.</p></div>","PeriodicalId":100755,"journal":{"name":"Journal of Automation and Intelligence","volume":"2 2","pages":"Pages 105-117"},"PeriodicalIF":0.0,"publicationDate":"2023-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49743744","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Error reachable set based stabilization of switched linear systems with bounded peak disturbances 有界峰值扰动切换线性系统的误差可达集镇定

Journal of Automation and Intelligence Pub Date : 2023-05-01 DOI: 10.1016/j.jai.2023.06.001

Xinxin Shang , Songlin Zhuang , Tianyu Tan , Yang Shi

{"title":"Error reachable set based stabilization of switched linear systems with bounded peak disturbances","authors":"Xinxin Shang , Songlin Zhuang , Tianyu Tan , Yang Shi","doi":"10.1016/j.jai.2023.06.001","DOIUrl":"https://doi.org/10.1016/j.jai.2023.06.001","url":null,"abstract":"<div><p>This paper investigates the error reachable set based stabilization problem for a class of discrete-time switched linear systems with bounded peak disturbances under persistent dwell-time (PDT) constraint. A double-clock-dependent control scheme is presented that can split the disturbed switched system into a nominal system and an error system, and assign to each system a controller scheduled by a clock. A necessary and sufficient convex stability criterion is presented for the nominal system, and is further extended to the stabilization controller design with a nominal clock. In the presence of bounded peak disturbances, another stabilization controller with an error clock is developed for the error system, with the purpose of “minimizing” the reachable set of the error system by the ellipsoidal techniques. It is demonstrated that the disturbed system is also globally exponentially stable in the sense of converging to an over approximation of the reachable set of the error system, i.e., a union of a family of bounding ellipsoids, that can also be regarded as the cross section of a tube containing the trajectories of the disturbed system. Two numerical examples are provided to verify the effectiveness of the developed results.</p></div>","PeriodicalId":100755,"journal":{"name":"Journal of Automation and Intelligence","volume":"2 2","pages":"Pages 87-98"},"PeriodicalIF":0.0,"publicationDate":"2023-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49743859","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Evolutionary games and spatial periodicity 进化博弈与空间周期性

Journal of Automation and Intelligence Pub Date : 2023-05-01 DOI: 10.1016/j.jai.2023.05.001

Te Wu , Feng Fu , Long Wang

{"title":"Evolutionary games and spatial periodicity","authors":"Te Wu , Feng Fu , Long Wang","doi":"10.1016/j.jai.2023.05.001","DOIUrl":"https://doi.org/10.1016/j.jai.2023.05.001","url":null,"abstract":"<div><p>Spatial interactions are considered an important factor influencing a variety of evolutionary processes that take place in structured populations. It still remains an open problem to fully understand evolutionary game dynamics on networks except for certain limiting scenarios such as weak selection. Here we study the evolutionary dynamics of spatial games under strong selection where strategy evolution of individuals becomes deterministic in a fashion of winners taking all. We show that the long term behavior of the evolutionary process eventually converges to a particular basin of attraction, which is either a periodic cycle or a single fixed state depending on specific initial conditions and model parameters. In particular, we find that symmetric starting configurations can induce an exceedingly long transient phase encompassing a large number of aesthetic spatial patterns including the prominent kaleidoscopic cooperation. Our finding holds for any population structure and a broad class of finite games beyond the Prisoner’s Dilemma. Our work offers insights into understanding evolutionary dynamics of spatially extended systems ubiquitous in biology and ecology.</p></div>","PeriodicalId":100755,"journal":{"name":"Journal of Automation and Intelligence","volume":"2 2","pages":"Pages 79-86"},"PeriodicalIF":0.0,"publicationDate":"2023-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49743919","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Spline adaptive filtering algorithm based on different iterative gradients: Performance analysis and comparison 基于不同迭代梯度的样条自适应滤波算法:性能分析与比较

Journal of Automation and Intelligence Pub Date : 2023-02-01 DOI: 10.1016/j.jai.2022.100008

Sihai Guan , Bharat Biswal

引用次数: 1

Autonomous exploration using UWB and LiDAR 利用超宽带和激光雷达进行自主探测

Journal of Automation and Intelligence Pub Date : 2023-02-01 DOI: 10.1016/j.jai.2022.100006

Mingyang Guan , Changyun Wen

{"title":"Autonomous exploration using UWB and LiDAR","authors":"Mingyang Guan , Changyun Wen","doi":"10.1016/j.jai.2022.100006","DOIUrl":"https://doi.org/10.1016/j.jai.2022.100006","url":null,"abstract":"<div><p>In autonomous exploration, a robot navigates itself in an unknown environment while building a 2D map of the environment. This is typically done using a LiDAR sensor, which however is susceptible to error accumulation. To handle this issue, a UWB/LiDAR fusion SLAM is proposed, which can be decoupled into a localization problem and a mapping problem. For localization problem, we firstly apply extended Kalman filter (EKF) to localize all UWB beacons and then use particle filter (PF) to estimate the robot’s state based on the two on-board UWB nodes’ estimated locations. For mapping problem, we firstly fine-tune the robot’s state using a recursive adaptive-trust-region scan matcher, which is termed as RASM, and then construct the map based on the refined robot’s state. We also propose a method to correct UWB beacons’ locations using the robot’s refined location. Furthermore, the information obtained from the proposed fusion SLAM is utilized to sketch the region where the robot is going to explore next. That is, a where-to-explore strategy is proposed to guide the robot to the less-explored areas. Overall, the proposed exploration system is infrastructure-less and avoid mapping error to accumulate over time. Extensive experiments with comparisons to the state-of-the-art methods are conducted in two different environments: a cluttered workshop and a spacious garden in order to verify the effectiveness of our proposed strategy. The experimental tests are filmed and the video is available in the supplementary materials.</p></div>","PeriodicalId":100755,"journal":{"name":"Journal of Automation and Intelligence","volume":"2 1","pages":"Pages 51-60"},"PeriodicalIF":0.0,"publicationDate":"2023-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49757504","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Cost-effective distributed FTFC for uncertain nonholonomic mobile robot fleet with collision avoidance and connectivity preservation 不确定非完整移动机器人车队的低成本分布式FTFC避碰与连通性保持

Journal of Automation and Intelligence Pub Date : 2023-02-01 DOI: 10.1016/j.jai.2023.100021

Xiucai Huang , Zhengguo Li , Frank L. Lewis

{"title":"Cost-effective distributed FTFC for uncertain nonholonomic mobile robot fleet with collision avoidance and connectivity preservation","authors":"Xiucai Huang , Zhengguo Li , Frank L. Lewis","doi":"10.1016/j.jai.2023.100021","DOIUrl":"https://doi.org/10.1016/j.jai.2023.100021","url":null,"abstract":"<div><p>In this paper, the fault-tolerant formation control (FTFC) problem is investigated for a group of uncertain nonholonomic mobile robots with limited communication ranges and unpredicted actuator faults, where the communication between the robots is in a directed one-to-one way. In order to guarantee the connectivity preservation and collision avoidance among the robots, some properly chosen performance functions are incorporated into the controller to per-assign the asymmetrical bounds for relative distance and bearing angle between each pair of adjacent mobile robots. Particularly, the resultant control scheme remains at a cost-effective level because its design does not use any velocity information from neighbors, any prior knowledge of system nonlinearities or any nonlinear approximator to account for them despite the presence of modeling uncertainties, unknown external disturbances, and unexpected actuator faults. Meanwhile, each follower is derived to track the leader with the tracking errors regarding relative distance and bearing angle subject to prescribed transient and steady-state performance guarantees, respectively. Moreover, all the closed-loop signals are ensured to be ultimately uniformly bounded. Finally, a numerical example is simulated to verify the effectiveness of this methodology.</p></div>","PeriodicalId":100755,"journal":{"name":"Journal of Automation and Intelligence","volume":"2 1","pages":"Pages 42-50"},"PeriodicalIF":0.0,"publicationDate":"2023-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49743551","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Sampled-data control through model-free reinforcement learning with effective experience replay 采样数据控制通过无模型强化学习与有效的经验回放

Journal of Automation and Intelligence Pub Date : 2023-02-01 DOI: 10.1016/j.jai.2023.100018

Bo Xiao , H.K. Lam , Xiaojie Su , Ziwei Wang , Frank P.-W. Lo , Shihong Chen , Eric Yeatman

{"title":"Sampled-data control through model-free reinforcement learning with effective experience replay","authors":"Bo Xiao , H.K. Lam , Xiaojie Su , Ziwei Wang , Frank P.-W. Lo , Shihong Chen , Eric Yeatman","doi":"10.1016/j.jai.2023.100018","DOIUrl":"https://doi.org/10.1016/j.jai.2023.100018","url":null,"abstract":"<div><p>Reinforcement Learning (RL) based control algorithms can learn the control strategies for nonlinear and uncertain environment during interacting with it. Guided by the rewards generated by environment, a RL agent can learn the control strategy directly in a model-free way instead of investigating the dynamic model of the environment. In the paper, we propose the sampled-data RL control strategy to reduce the computational demand. In the sampled-data control strategy, the whole control system is of a hybrid structure, in which the plant is of continuous structure while the controller (RL agent) adopts a discrete structure. Given that the continuous states of the plant will be the input of the agent, the state–action value function is approximated by the fully connected feed-forward neural networks (FCFFNN). Instead of learning the controller at every step during the interaction with the environment, the learning and acting stages are decoupled to learn the control strategy more effectively through experience replay. In the acting stage, the most effective experience obtained during the interaction with the environment will be stored and during the learning stage, the stored experience will be replayed to customized times, which helps enhance the experience replay process.</p><p>The effectiveness of proposed approach will be verified by simulation examples.</p></div>","PeriodicalId":100755,"journal":{"name":"Journal of Automation and Intelligence","volume":"2 1","pages":"Pages 20-30"},"PeriodicalIF":0.0,"publicationDate":"2023-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49743921","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

Towards cognitive navigation: A biologically inspired calibration mechanism for the head direction cell network 迈向认知导航:头部方向细胞网络的生物学启发校准机制

Journal of Automation and Intelligence Pub Date : 2023-02-01 DOI: 10.1016/j.jai.2023.100020

Zhenshan Bing , Dominik Nitschke , Genghang Zhuang , Kai Huang , Alois Knoll

{"title":"Towards cognitive navigation: A biologically inspired calibration mechanism for the head direction cell network","authors":"Zhenshan Bing , Dominik Nitschke , Genghang Zhuang , Kai Huang , Alois Knoll","doi":"10.1016/j.jai.2023.100020","DOIUrl":"https://doi.org/10.1016/j.jai.2023.100020","url":null,"abstract":"<div><p>To derive meaningful navigation strategies, animals have to estimate their directional headings in the environment. Accordingly, this function is achieved by the head direction cells that were found in mammalian brains, whose neural activities encode one’s heading direction. It is believed that such head direction information is generated by integrating self-motion cues, which also introduces accumulative errors in the long term. To eliminate such errors, this paper presents an efficient calibration model that mimics the animals’ behavior by exploiting visual cues in a biologically plausible way, and then implements it in robotic navigation tasks. The proposed calibration model allows the agent to associate its head direction and the perceived egocentric direction of a visual cue with its position and orientation, and therefore to calibrate the head direction when the same cue is viewed again. We examine the proposed head direction calibration model in extensive simulations and real-world experiments and demonstrate its excellent performance in terms of quick association of information to proximal or distal cues as well as accuracy of calibrating the integration errors of the head direction. Videos can be viewed at <span>https://videoviewsite.wixsite.com/hdc-calibration</span><svg><path></path></svg>.</p></div>","PeriodicalId":100755,"journal":{"name":"Journal of Automation and Intelligence","volume":"2 1","pages":"Pages 31-41"},"PeriodicalIF":0.0,"publicationDate":"2023-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49743545","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Practical bipartite consensus for multi-agent systems: A barrier function-based adaptive sliding-mode control approach 多智能体系统的实用二部共识:一种基于障碍函数的自适应滑模控制方法

Journal of Automation and Intelligence Pub Date : 2023-02-01 DOI: 10.1016/j.jai.2023.100019

Boda Ning , Qing-Long Han , Xiaohua Ge

引用次数: 1

Model predictive control for water management and energy security in arid/semiarid regions 干旱/半干旱区水资源管理与能源安全的模型预测控制

Journal of Automation and Intelligence Pub Date : 2022-12-01 DOI: 10.1016/j.jai.2022.100001

D.M. Bajany , L. Zhang , X. Xia

{"title":"Model predictive control for water management and energy security in arid/semiarid regions","authors":"D.M. Bajany , L. Zhang , X. Xia","doi":"10.1016/j.jai.2022.100001","DOIUrl":"10.1016/j.jai.2022.100001","url":null,"abstract":"<div><p>This paper aims to develop a realistic operational optimal management of a water supply system in an arid/semiarid region under climate change conditions. The developed model considers the dynamic variation of water demand, rainfall, weather, and seasonal change in electricity price. It is mathematically developed as a multi-constraint non-linear programming model based on model predictive control principles. The model optimises the quantities of water supplied by each source every month and improves the energy efficiency in a water supply system with multiple types of sources. The effectiveness of the developed MPC model is verified by applying it to a case study and comparing the results with those obtained with an open loop model. Results showed that using the MPC model leads to a 4.16% increase in the water supply cost compared to the open loop model. However, when considering uncertainties in predicting water demands, aquifer recharges, rainfall, and evaporation rate, the MPC model was better than the open loop model. Indeed, the MPC model could meet the water demand at any period due to its predictability of variations, which was not the case with the open loop model. Moreover, a sensitivity analysis is conducted to verify the capacity of the developed model to deal with some phenomena due to climatic changes, such as in rainfall.</p></div>","PeriodicalId":100755,"journal":{"name":"Journal of Automation and Intelligence","volume":"1 1","pages":"Article 100001"},"PeriodicalIF":0.0,"publicationDate":"2022-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2949855422000016/pdfft?md5=a33cb644d0b9ca4435716f0923204f10&pid=1-s2.0-S2949855422000016-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77150910","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1