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1.
Fault detection and identification for a class of continuous piecewise affine systems with unknown subsystems and partitions 下载免费PDF全文
Nikolaos Moustakis Bingyu Zhou Thuan Le Quang Simone Baldi 《International Journal of Adaptive Control and Signal Processing》2018,32(7):980-993
This paper establishes a novel online fault detection and identification strategy for a class of continuous piecewise affine (PWA) systems, namely, bimodal and trimodal PWA systems. The main contributions with respect to the state‐of‐the‐art are the recursive nature of the proposed scheme and the consideration of parametric uncertainties in both partitions and in subsystems parameters. In order to handle this situation, we recast the continuous PWA into its max‐form representation and we exploit the recursive Newton‐Gauss algorithm on a suitable cost function to derive the adaptive laws to estimate online the unknown subsystem parameters, the partitions, and the loss in control authority for the PWA model. The effectiveness of the proposed methodology is verified via simulations applied to the benchmark example of a wheeled mobile robot. 相似文献
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H. R. Ossareh 《International journal of control》2020,93(1):113-125
ABSTRACTIn this paper, we consider the problem of constraint management in Linear Periodic (LP) systems using Reference Governors (RG). First, we introduce the periodic-invariant maximal output admissible sets for LP systems. We extend the earlier results in the literature to Lyapunov stable LP systems with output constraints, which arise in RG applications. We show that, while the invariant sets for these systems may not be finitely determined, a finitely-determined inner approximation, which is periodically invariant, can be obtained by constraint tightening. We then analyze the geometric and algebraic relationship between these sets and show that these sets are related via simple transformations, implying that it suffices to compute only one of them for real-time applications. This greatly reduces the memory burden of RG (or other similar constraint management strategies), at the expense of an increase in processing requirements. We present a thorough analysis of this trade-off. In the second part of this paper, we present two RG formulations, and discuss their properties and algorithms for their computation. Numerical simulations demonstrate the efficacy of the approach. 相似文献
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针对SIFT描述子实时性差和传统二进制描述子对尺度、旋转和视角变化鲁棒性差的问题,本文通过优化采样模式和添加灰度差分不变量比较测试进行改进,提出了一种鲁棒性更高的二进制描述子。首先,设计了一种尺度关联、编号标记的采样模式;然后,旋转采样模式中各采样点到特定位置,确保描述子尺度、旋转不变性;接着,分析了采样点点对模式对描述子的影响,选择使用机器学习训练后的128对采样点对;最后,选择灰度值比较测试及梯度绝对值和比较测试构建二进制描述子。实验中采用DoG检测图像关键点,结果表明:本文提出的描述子在描述子构建和描述子匹配上比SIFT描述子分别快84%和67%;在有视角变化的图像匹配上,准确率比传统的二进制描述子高3%~5%,召回率平均要高30%以上。本文提出的特征点描述方法适用于时间要求高的图像匹配领域。 相似文献
4.
Following the recent introduction of the Sustainability over Sets (SOS) concept as a sustainability analysis tool with broad flexibility in incorporating human input, in this work, the concepts of Sustainizability (SIZ) and Sustainizability over Sets (SIZOS) are introduced, as novel frameworks for sustainable system synthesis. Springing off the conceptual foundation of sustainability, SIZ (and SIZOS) refers to the existence of allowable external actions, and/or design changes that can render sustainable (sustainable over a set) an unsustainable (unsustainable over a set) system. Utilizing earlier mathematical results for SOS, rigorous necessary and sufficient conditions for SIZOS are presented. Two case studies, on a two-dimensional biological waste treatment system, and a three-dimensional food chain system, are then presented to illustrate the developed necessary and sufficient conditions for SIZOS. 相似文献
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We will consider a convex subset of a metric linear space and a certain group of actions G on this set, that allow us to define the notion of Haar zero measure on sets that have zero Haar measure for the translation (by adding) invariant HSY prevalence theory. In this way, we will be able to define the meaning of G-prevalent set according to the pioneering work of Christensen. Our setting considers problems which take into account the convex structure and this is quite different from the previous results on prevalence which consider basically the linear additive structure. In this setting, we will show a kind of quantitative Kupka–Smale theorem, and also we generalize a result about rotation numbers which was first considered by J.-C. Yoccoz (and, also by M. Tsujii). Among other things we present an estimation of the amount of hyperbolicity in a setting that we believe was not considered before. 相似文献
8.
为了实现影像测量仪双相机的精确定位,以满足批量多种类零件自动化测量需求。在现有的影像测量仪上引入由大视野相机构成的视觉引导模块,文中以改进后的影像测量仪为平台,利用大视野相机得到标定板的角点位置信息,结合小视野相机获得的实际位置信息,通过仿射变换建立两者之间的坐标转换关系,确定双相机之间的位置关系,实现双相机之间的相互精确定位。定位实验结果表明了文章所提方法的有效性,相对于传统定位方法其定位精度提高了16%,能够满足批量多种类零件自动化测量的需求,为后续的自动测量工作奠定了基础。 相似文献
9.
Two-dimensional digital image correlation (2D-DIC) is an experimental technique used to measure in-plane displacement of a test specimen. Real-time measurement of full-field displacement data is challenging due to enormous computational load of the algorithm. In order to improve the computational speed, the focus of recent research works has been on the approach of parallelization across subsets within image pairs using graphics processing unit (GPU). But alternate GPU-based parallelization approaches to improve the performance of this algorithm as per the order of data processing have not been explored. To address this research gap, our method utilizes parallelism within a subset as well as across subsets for each computation step in an iteration cycle. A heterogeneous (CPU-GPU) framework in combination with a pyramid-based initial values estimation for subsets (in parallel) is proposed in this work. The precompute steps of the proposed framework are implemented using CPU, whereas the main iterative steps are realized using GPU. It is demonstrated that the overall computational speed of the proposed heterogeneous framework improves by compared to a sequential CPU-based implementation for a pair of gray-scale images with a resolution of pixels. As an important milestone, feasibility to measure deformations in real time ( 1 s) is manifested in this study. 相似文献
10.
In this paper, a discrete‐time piecewise affine (PWA) model of a wind turbine during Maximum Power Point Tracking (MPPT) region is identified. A clustering‐based identification method is utilized to create PWA maps for nonlinear aerodynamic torque and thrust force functions. This method exploits the combined use of clustering, pattern recognition, and parameter identification techniques. The well‐known K‐means clustering method is employed along with a perceptron‐based multiclassifier for pattern recognition and the least squared technique for parameter estimation. The identified maps are approximated the nonlinear static functions of the dynamic model of the wind turbine. Characteristics of a 5‐MW wind turbine are considered and the resulting model, which consists of 25 subregions is compared with the nonlinear dynamic model. Two test cases are studied in order to validate the presented model. Simulation results demonstrate the effectiveness and accuracy of the PWA model such that the response of the identified PWA model is fitted well to the nonlinear one. The PWA model identified in this paper can be widely used for advanced control systems design and long‐term performance and security assessment of the power grid. 相似文献