A new solution approach to polynomial LPV system analysis and synthesis

Based on sum-of-squares (SOS) decomposition, we propose a new solution approach for polynomial LPV system analysis and control synthesis problems. Instead of solving matrix variables over a positive definite cone, the SOS approach tries to find a suitable decomposition to verify the positiveness of given polynomials. The complexity of the SOS-based numerical method is polynomial of the problem size. This approach also leads to more accurate solutions to LPV systems than most existing relaxation methods. Several examples have been used to demonstrate benefits of the SOS-based solution approach

Real-Time Motion Planning of Legged Robots: A Model Predictive Control Approach

We introduce a real-time, constrained, nonlinear Model Predictive Control for the motion planning of legged robots. The proposed approach uses a constrained optimal control algorithm known as SLQ. We improve the efficiency of this algorithm by introducing a multi-processing scheme for estimating value function in its backward pass. This pass has been often calculated as a single process. This parallel SLQ algorithm can optimize longer time horizons without proportional increase in its computation time. Thus, our MPC algorithm can generate optimized trajectories for the next few phases of the motion within only a few milliseconds. This outperforms the state of the art by at least one order of magnitude. The performance of the approach is validated on a quadruped robot for generating dynamic gaits such as trotting.Comment: 8 page

Exclusive Operation Strategy for the Supervisory Control of Series Hybrid Electric Vehicles

Supervisory control systems (SCSs) are used to manage the powertrain of hybrid electric vehicles (HEV). This paper presents a novel SCS called Exclusive operation strategy (XOS) that applies simple rules based on the idea that batteries are efficient at lower loads while engines and generators are efficient at higher loads. The XOS is developed based on insights gained from three conventional SCSs for series HEVs: Thermostat control strategy (TCS), Power follower control strategy (PFCS) and Global equivalent consumption minimization strategy (GECMS). Also, recent technological developments have been considered to make the XOS more suited to modern HEVs than conventional SCSs. The resulting control decisions are shown to emulate the operation of approximate global optimal solutions and thus achieve significant improvement in fuel economy as compared to TCS and PFCS. In addition, the generally linear relationship between required power and engine power for the XOS provides auditory cues to the driver that are comparable to conventional vehicles, thus reducing barriers to adopting HEVs. The simplicity and effectiveness of the XOS makes it a practical SCS

Feedback learning particle swarm optimization

This is the author’s version of a work that was accepted for publication in Applied Soft Computing. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published and is available at the link below - Copyright @ Elsevier 2011In this paper, a feedback learning particle swarm optimization algorithm with quadratic inertia weight (FLPSO-QIW) is developed to solve optimization problems. The proposed FLPSO-QIW consists of four steps. Firstly, the inertia weight is calculated by a designed quadratic function instead of conventional linearly decreasing function. Secondly, acceleration coefficients are determined not only by the generation number but also by the search environment described by each particle’s history best fitness information. Thirdly, the feedback fitness information of each particle is used to automatically design the learning probabilities. Fourthly, an elite stochastic learning (ELS) method is used to refine the solution. The FLPSO-QIW has been comprehensively evaluated on 18 unimodal, multimodal and composite benchmark functions with or without rotation. Compared with various state-of-the-art PSO algorithms, the performance of FLPSO-QIW is promising and competitive. The effects of parameter adaptation, parameter sensitivity and proposed mechanism are discussed in detail.This research was partially supported by the National Natural Science Foundation of PR China (Grant No 60874113), the Research Fund for the Doctoral Program of Higher Education (Grant No 200802550007), the Key Creative Project of Shanghai Education Community (Grant No 09ZZ66), the Key Foundation Project of Shanghai(Grant No 09JC1400700), the International Science and Technology Cooperation Project of China under Grant 2009DFA32050, and the Alexander von Humboldt Foundation of Germany

Impact of noise on a dynamical system: prediction and uncertainties from a swarm-optimized neural network

In this study, an artificial neural network (ANN) based on particle swarm optimization (PSO) was developed for the time series prediction. The hybrid ANN+PSO algorithm was applied on Mackey--Glass chaotic time series in the short-term $x(t+6)$. The performance prediction was evaluated and compared with another studies available in the literature. Also, we presented properties of the dynamical system via the study of chaotic behaviour obtained from the predicted time series. Next, the hybrid ANN+PSO algorithm was complemented with a Gaussian stochastic procedure (called {\it stochastic} hybrid ANN+PSO) in order to obtain a new estimator of the predictions, which also allowed us to compute uncertainties of predictions for noisy Mackey--Glass chaotic time series. Thus, we studied the impact of noise for several cases with a white noise level ($\sigma_{N}$) from 0.01 to 0.1.Comment: 11 pages, 8 figure