To improve the hit probability of tank at high speed,a prediction method of projectile-target intersection based on adaptive robust constraint-following control and interval uncertainty analysis is proposed.The method...To improve the hit probability of tank at high speed,a prediction method of projectile-target intersection based on adaptive robust constraint-following control and interval uncertainty analysis is proposed.The method proposed provides a novel way to predict the impact point of projectile for moving tank.First,bidirectional stability constraints and stability constraint-following error are constructed using the Udwadia-Kalaba theory,and an adaptive robust constraint-following controller is designed considering uncertainties.Second,the exterior ballistic ordinary differential equation with uncertainties is integrated into the controller,and the pointing control of stability system is extended to the impact-point control of projectile.Third,based on the interval uncertainty analysis method combining Chebyshev polynomial expansion and affine arithmetic,a prediction method of projectile-target intersection is proposed.Finally,the co-simulation experiment is performed by establishing the multi-body system dynamic model of tank and mathematical model of control system.The results demonstrate that the prediction method of projectile-target intersection based on uncertainty analysis can effectively decrease the uncertainties of system,improve the prediction accuracy,and increase the hit probability.The adaptive robust constraint-following control can effectively restrain the uncertainties caused by road excitation and model error.展开更多
With the advantage of exceptional long-range traffic perception capabilities and data fusion computational prowess,the cloud control system(CCS)has exhibited formidable poten-tial in the realm of connected assisted dr...With the advantage of exceptional long-range traffic perception capabilities and data fusion computational prowess,the cloud control system(CCS)has exhibited formidable poten-tial in the realm of connected assisted driving,such as the adap-tive cruise control(ACC).Based on the CCS architecture,this paper proposes a cloud-based predictive ACC(PACC)strategy,which fully considers the road slope information and the preced-ing vehicle status.In the cloud,based on the dynamic program-ming(DP),the long-term economic speed planning is carried out by using the slope information.At the vehicle side,the real-time fusion planning of the economic speed and the preceding vehi-cle state is realized based on the model predictive control(MPC),taking into account the safety and economy of driving.In order to ensure the safety and stability of the vehicle-cloud cooperative control system,an event-triggered cruise mode switching method is proposed based on the state of each sub-system of the vehicle-cloud-network-map.Simulation results indicate that the PACC system can still ensure stable cruising under delays and some complex conditions.Moreover,under normal conditions,compared to the ACC system,the PACC sys-tem can further improve economy while ensuring safety and improve the overall energy efficiency of the vehicle,thus achiev-ing fuel savings of 3%to 8%.展开更多
In order to obtain accurate prediction model and compensate for the influence of model mismatch on the control performance of the system and avoid solving nonlinear programming problem,an adaptive fuzzy predictive fun...In order to obtain accurate prediction model and compensate for the influence of model mismatch on the control performance of the system and avoid solving nonlinear programming problem,an adaptive fuzzy predictive functional control(AFPFC) scheme for multivariable nonlinear systems was proposed.Firstly,multivariable nonlinear systems were described based on Takagi-Sugeno(T-S) fuzzy models;assuming that the antecedent parameters of T-S models were kept,the consequent parameters were identified on-line by using the weighted recursive least square(WRLS) method.Secondly,the identified T-S models were linearized to be time-varying state space model at each sampling instant.Finally,by using linear predictive control technique the analysis solution of the optimal control law of AFPFC was established.The application results for pH neutralization process show that the absolute error between the identified T-S model output and the process output is smaller than 0.015;the tracking ability of the proposed AFPFC is superior to that of non-AFPFC(NAFPFC) for pH process without disturbances,the overshoot of the effluent pH value of AFPFC with disturbances is decreased by 50% compared with that of NAFPFC;when the process parameters of AFPFC vary with time the integrated absolute error(IAE) performance index still retains to be less than 200 compared with that of NAFPFC.展开更多
Some papers on stochastic adaptive control schemes have established convergence algorithm using a least-squares parameters. With the popular application of GPC, global convergence has become a key problem in automatic...Some papers on stochastic adaptive control schemes have established convergence algorithm using a least-squares parameters. With the popular application of GPC, global convergence has become a key problem in automatic control theory. However, now global convergence of GPC has not been established for algorithms in computing a least squares iteration. A generalized model of adaptive generalized predictive control is presented. The global convergebce is also given on the basis of estimating the parameters of GPC by least squares algorithm.展开更多
为更精确地预测航班过站时间,将全国机场按照规模差异及不同地理位置所导致的客流量差异和天气差异对航班过站时间造成的不同影响进行分类,基于各类机场航班数据,构建混合轻量级梯度提升机算法(LightGBM)模型对航班过站时间分类预测。...为更精确地预测航班过站时间,将全国机场按照规模差异及不同地理位置所导致的客流量差异和天气差异对航班过站时间造成的不同影响进行分类,基于各类机场航班数据,构建混合轻量级梯度提升机算法(LightGBM)模型对航班过站时间分类预测。引入自适应鲁棒损失函数(adaptive robust loss function,ARLF)改进LightGBM模型损失函数,降低航班数据中存在离群值的影响;通过改进的麻雀搜索算法对改进后的LightGBM模型进行参数寻优,形成混合LightGBM模型。采用全国2019年全年航班数据进行验证,实验结果验证了方法的可行性。展开更多
基金financially supported by the National Natural Science Foundation of China(Grant 52175099)the China Postdoctoral Science Foundation(Grant No.2020M671494)+1 种基金the Jiangsu Planned Projects for Postdoctoral Research Funds(Grant No.2020Z179)the Nanjing University of Science and Technology Independent Research Program(Grant No.30920021105)。
文摘To improve the hit probability of tank at high speed,a prediction method of projectile-target intersection based on adaptive robust constraint-following control and interval uncertainty analysis is proposed.The method proposed provides a novel way to predict the impact point of projectile for moving tank.First,bidirectional stability constraints and stability constraint-following error are constructed using the Udwadia-Kalaba theory,and an adaptive robust constraint-following controller is designed considering uncertainties.Second,the exterior ballistic ordinary differential equation with uncertainties is integrated into the controller,and the pointing control of stability system is extended to the impact-point control of projectile.Third,based on the interval uncertainty analysis method combining Chebyshev polynomial expansion and affine arithmetic,a prediction method of projectile-target intersection is proposed.Finally,the co-simulation experiment is performed by establishing the multi-body system dynamic model of tank and mathematical model of control system.The results demonstrate that the prediction method of projectile-target intersection based on uncertainty analysis can effectively decrease the uncertainties of system,improve the prediction accuracy,and increase the hit probability.The adaptive robust constraint-following control can effectively restrain the uncertainties caused by road excitation and model error.
基金supported by the National Key R&D Program of China(2021YFB2501000)the Consultancy Research Project on the Strategic Study of the Integration and Innovative Development of Intelligent Connected Vehicles and New Energy Ecology in Zhejiang Province(2023ZL0007)+1 种基金the Hetao Shenzhen-HongKong Science and Technology Innovation Cooperation Zone(HZQB-KCZYZ-2021055)the Open Project of the Key Laboratory of Modern Measurement and Control Technology of the Ministry of Education(KF2022-1123202).
文摘With the advantage of exceptional long-range traffic perception capabilities and data fusion computational prowess,the cloud control system(CCS)has exhibited formidable poten-tial in the realm of connected assisted driving,such as the adap-tive cruise control(ACC).Based on the CCS architecture,this paper proposes a cloud-based predictive ACC(PACC)strategy,which fully considers the road slope information and the preced-ing vehicle status.In the cloud,based on the dynamic program-ming(DP),the long-term economic speed planning is carried out by using the slope information.At the vehicle side,the real-time fusion planning of the economic speed and the preceding vehi-cle state is realized based on the model predictive control(MPC),taking into account the safety and economy of driving.In order to ensure the safety and stability of the vehicle-cloud cooperative control system,an event-triggered cruise mode switching method is proposed based on the state of each sub-system of the vehicle-cloud-network-map.Simulation results indicate that the PACC system can still ensure stable cruising under delays and some complex conditions.Moreover,under normal conditions,compared to the ACC system,the PACC sys-tem can further improve economy while ensuring safety and improve the overall energy efficiency of the vehicle,thus achiev-ing fuel savings of 3%to 8%.
基金Project(2007AA04Z162) supported by the National High-Tech Research and Development Program of ChinaProjects(2006T089, 2009T062) supported by the University Innovation Team in the Educational Department of Liaoning Province, China
文摘In order to obtain accurate prediction model and compensate for the influence of model mismatch on the control performance of the system and avoid solving nonlinear programming problem,an adaptive fuzzy predictive functional control(AFPFC) scheme for multivariable nonlinear systems was proposed.Firstly,multivariable nonlinear systems were described based on Takagi-Sugeno(T-S) fuzzy models;assuming that the antecedent parameters of T-S models were kept,the consequent parameters were identified on-line by using the weighted recursive least square(WRLS) method.Secondly,the identified T-S models were linearized to be time-varying state space model at each sampling instant.Finally,by using linear predictive control technique the analysis solution of the optimal control law of AFPFC was established.The application results for pH neutralization process show that the absolute error between the identified T-S model output and the process output is smaller than 0.015;the tracking ability of the proposed AFPFC is superior to that of non-AFPFC(NAFPFC) for pH process without disturbances,the overshoot of the effluent pH value of AFPFC with disturbances is decreased by 50% compared with that of NAFPFC;when the process parameters of AFPFC vary with time the integrated absolute error(IAE) performance index still retains to be less than 200 compared with that of NAFPFC.
基金This project was supported by the National Natural Science Foundation of China (60174021) Tianjin Advanced School Science and Technology Development Foundation (01 - 20403) .
文摘Some papers on stochastic adaptive control schemes have established convergence algorithm using a least-squares parameters. With the popular application of GPC, global convergence has become a key problem in automatic control theory. However, now global convergence of GPC has not been established for algorithms in computing a least squares iteration. A generalized model of adaptive generalized predictive control is presented. The global convergebce is also given on the basis of estimating the parameters of GPC by least squares algorithm.
文摘为更精确地预测航班过站时间,将全国机场按照规模差异及不同地理位置所导致的客流量差异和天气差异对航班过站时间造成的不同影响进行分类,基于各类机场航班数据,构建混合轻量级梯度提升机算法(LightGBM)模型对航班过站时间分类预测。引入自适应鲁棒损失函数(adaptive robust loss function,ARLF)改进LightGBM模型损失函数,降低航班数据中存在离群值的影响;通过改进的麻雀搜索算法对改进后的LightGBM模型进行参数寻优,形成混合LightGBM模型。采用全国2019年全年航班数据进行验证,实验结果验证了方法的可行性。
