70,044 research outputs found
A novel fault-tolerant control strategy for near space hypersonic vehicles via least squares support vector machine and backstepping method
Near Space Hypersonic Vehicle (NSHV) could play significant roles in both military and civilian applications. It may cause huge losses of both personnel and property when a fatal fault occurs. It is therefore paramount to conduct fault-tolerant research for NSHV and avoid some catastrophic events. Toward this end, this paper presents a novel fault-tolerant control strategy by using the LSSVM (Least Squares Support Vector Machine)-based inverse system and Backstepping method. The control system takes advantage of the superiority of the LSSVM in solving the problems with small samples, high dimensions and local minima. The inverse system is built with an improved LSSVM. The adaptive controller is designed via the Backstepping which has the unique capability in dealing with nonlinear control systems. Finally, the experiment results demonstrate that the proposed method performs well
Active Sampling-based Binary Verification of Dynamical Systems
Nonlinear, adaptive, or otherwise complex control techniques are increasingly
relied upon to ensure the safety of systems operating in uncertain
environments. However, the nonlinearity of the resulting closed-loop system
complicates verification that the system does in fact satisfy those
requirements at all possible operating conditions. While analytical proof-based
techniques and finite abstractions can be used to provably verify the
closed-loop system's response at different operating conditions, they often
produce conservative approximations due to restrictive assumptions and are
difficult to construct in many applications. In contrast, popular statistical
verification techniques relax the restrictions and instead rely upon
simulations to construct statistical or probabilistic guarantees. This work
presents a data-driven statistical verification procedure that instead
constructs statistical learning models from simulated training data to separate
the set of possible perturbations into "safe" and "unsafe" subsets. Binary
evaluations of closed-loop system requirement satisfaction at various
realizations of the uncertainties are obtained through temporal logic
robustness metrics, which are then used to construct predictive models of
requirement satisfaction over the full set of possible uncertainties. As the
accuracy of these predictive statistical models is inherently coupled to the
quality of the training data, an active learning algorithm selects additional
sample points in order to maximize the expected change in the data-driven model
and thus, indirectly, minimize the prediction error. Various case studies
demonstrate the closed-loop verification procedure and highlight improvements
in prediction error over both existing analytical and statistical verification
techniques.Comment: 23 page
Adaptation and learning over networks for nonlinear system modeling
In this chapter, we analyze nonlinear filtering problems in distributed
environments, e.g., sensor networks or peer-to-peer protocols. In these
scenarios, the agents in the environment receive measurements in a streaming
fashion, and they are required to estimate a common (nonlinear) model by
alternating local computations and communications with their neighbors. We
focus on the important distinction between single-task problems, where the
underlying model is common to all agents, and multitask problems, where each
agent might converge to a different model due to, e.g., spatial dependencies or
other factors. Currently, most of the literature on distributed learning in the
nonlinear case has focused on the single-task case, which may be a strong
limitation in real-world scenarios. After introducing the problem and reviewing
the existing approaches, we describe a simple kernel-based algorithm tailored
for the multitask case. We evaluate the proposal on a simulated benchmark task,
and we conclude by detailing currently open problems and lines of research.Comment: To be published as a chapter in `Adaptive Learning Methods for
Nonlinear System Modeling', Elsevier Publishing, Eds. D. Comminiello and J.C.
Principe (2018
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