5,484 research outputs found
Extended Kalman filtering with stochastic nonlinearities and multiple missing measurements
Copyright @ 2012 ElsevierIn this paper, the extended Kalman filtering problem is investigated for a class of nonlinear systems with multiple missing measurements over a finite horizon. Both deterministic and stochastic nonlinearities are included in the system model, where the stochastic nonlinearities are described by statistical means that could reflect the multiplicative stochastic disturbances. The phenomenon of measurement missing occurs in a random way and the missing probability for each sensor is governed by an individual random variable satisfying a certain probability distribution over the interval [0,1]. Such a probability distribution is allowed to be any commonly used distribution over the interval [0,1] with known conditional probability. The aim of the addressed filtering problem is to design a filter such that, in the presence of both the stochastic nonlinearities and multiple missing measurements, there exists an upper bound for the filtering error covariance. Subsequently, such an upper bound is minimized by properly designing the filter gain at each sampling instant. It is shown that the desired filter can be obtained in terms of the solutions to two Riccati-like difference equations that are of a form suitable for recursive computation in online applications. An illustrative example is given to demonstrate the effectiveness of the proposed filter design scheme.This work was supported in part by the National 973 Project under Grant 2009CB320600, National Natural Science Foundation of China under Grants 61028008, 61134009 and 60825303, the State Key Laboratory of Integrated Automation for the Process Industry (Northeastern University)
of China, the Engineering and Physical Sciences Research Council (EPSRC) of the U.K. under Grant GR/S27658/01, the Royal Society of the U.K., and the Alexander von Humboldt Foundation of Germany
Neural ODEs with stochastic vector field mixtures
It was recently shown that neural ordinary differential equation models
cannot solve fundamental and seemingly straightforward tasks even with
high-capacity vector field representations. This paper introduces two other
fundamental tasks to the set that baseline methods cannot solve, and proposes
mixtures of stochastic vector fields as a model class that is capable of
solving these essential problems. Dynamic vector field selection is of critical
importance for our model, and our approach is to propagate component
uncertainty over the integration interval with a technique based on forward
filtering. We also formalise several loss functions that encourage desirable
properties on the trajectory paths, and of particular interest are those that
directly encourage fewer expected function evaluations. Experimentally, we
demonstrate that our model class is capable of capturing the natural dynamics
of human behaviour; a notoriously volatile application area. Baseline
approaches cannot adequately model this problem
Mathematical control of complex systems
Copyright © 2013 ZidongWang et al.This is an open access article distributed under the Creative Commons Attribution License,
which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited
Level Set Methods for Stochastic Discontinuity Detection in Nonlinear Problems
Stochastic physical problems governed by nonlinear conservation laws are
challenging due to solution discontinuities in stochastic and physical space.
In this paper, we present a level set method to track discontinuities in
stochastic space by solving a Hamilton-Jacobi equation. By introducing a speed
function that vanishes at discontinuities, the iso-zero of the level set
problem coincide with the discontinuities of the conservation law. The level
set problem is solved on a sequence of successively finer grids in stochastic
space. The method is adaptive in the sense that costly evaluations of the
conservation law of interest are only performed in the vicinity of the
discontinuities during the refinement stage. In regions of stochastic space
where the solution is smooth, a surrogate method replaces expensive evaluations
of the conservation law. The proposed method is tested in conjunction with
different sets of localized orthogonal basis functions on simplex elements, as
well as frames based on piecewise polynomials conforming to the level set
function. The performance of the proposed method is compared to existing
adaptive multi-element generalized polynomial chaos methods
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