31,910 research outputs found
Parallel resampling in the particle filter
Modern parallel computing devices, such as the graphics processing unit
(GPU), have gained significant traction in scientific and statistical
computing. They are particularly well-suited to data-parallel algorithms such
as the particle filter, or more generally Sequential Monte Carlo (SMC), which
are increasingly used in statistical inference. SMC methods carry a set of
weighted particles through repeated propagation, weighting and resampling
steps. The propagation and weighting steps are straightforward to parallelise,
as they require only independent operations on each particle. The resampling
step is more difficult, as standard schemes require a collective operation,
such as a sum, across particle weights. Focusing on this resampling step, we
analyse two alternative schemes that do not involve a collective operation
(Metropolis and rejection resamplers), and compare them to standard schemes
(multinomial, stratified and systematic resamplers). We find that, in certain
circumstances, the alternative resamplers can perform significantly faster on a
GPU, and to a lesser extent on a CPU, than the standard approaches. Moreover,
in single precision, the standard approaches are numerically biased for upwards
of hundreds of thousands of particles, while the alternatives are not. This is
particularly important given greater single- than double-precision throughput
on modern devices, and the consequent temptation to use single precision with a
greater number of particles. Finally, we provide auxiliary functions useful for
implementation, such as for the permutation of ancestry vectors to enable
in-place propagation.Comment: 21 pages, 6 figure
Stabilization of the pendulum on a rotor arm by the method of controlled Lagrangians
Obtains feedback stabilization of an inverted pendulum on a rotor arm by the “method of controlled Lagrangians”. This approach involves modifying the Lagrangian for the uncontrolled system so that the Euler-Lagrange equations derived from the modified or “controlled” Lagrangian describe the closed-loop system. For the closed-loop equations to be consistent with available control inputs, the modifications to the Lagrangian must satisfy “matching” conditions. The pendulum on a rotor arm requires an interesting generalization of our earlier approach which was used for systems such as a pendulum on a cart
Matching and stabilization by the method of controlled Lagrangians
We describe a class of mechanical systems for which the “method of controlled Lagrangians” provides a family of control laws that stabilize an unstable (relative) equilibrium. The controlled Lagrangian approach involves making modifications to the Lagrangian for the uncontrolled system such that the Euler-Lagrange equations derived from the modified or “controlled” Lagrangian describe the closed-loop system. For the closed-loop equations to be consistent with available control inputs, the modifications to the Lagrangian must satisfy “matching” conditions. Our matching and stabilizability conditions are constructive; they provide the form of the controlled Lagrangian, the control law and, in some cases, conditions on the control gain(s) to ensure stability. The method is applied to stabilization of an inverted spherical pendulum on a cart and to stabilization of steady rotation of a rigid spacecraft about its unstable intermediate axis using an internal rotor
Stabilization of mechanical systems using controlled Lagrangians
We propose an algorithmic approach to stabilization of Lagrangian systems. The first step involves making admissible modifications to the Lagrangian for the uncontrolled system, thereby constructing what we call the controlled Lagrangian. The Euler-Lagrange equations derived from the controlled Lagrangian describe the closed-loop system where new terms are identified with control forces. Since the controlled system is Lagrangian by construction, energy methods can be used to find control gains that yield closed-loop stability. The procedure is demonstrated for the problem of stabilization of an inverted pendulum on a cart and for the problem of stabilization of rotation of a rigid spacecraft about its unstable intermediate axis using a single internal rotor. Similar results hold for the dynamics of an underwater vehicle
Flat Nonholonomic Matching
In this paper we extend the matching technique to a
class of nonholonomic systems with symmetries. Assuming
that the momentum equation defines an integrable
distribution, we introduce a family of reduced
systems. The method of controlled Lagrangians is then
applied to these systems resulting in a smooth stabilizing
controller
Controlled Lagrangian Methods and Tracking of Accelerated Motions
Matching techniques are applied to the problem of stabilization of uniformly accelerated motions of mechanical
systems with symmetry. The theory is illustrated with a simple model-a wheel and pendulum system
Nonholonomic Dynamics
Nonholonomic systems are, roughly speaking, mechanical
systems with constraints on their velocity
that are not derivable from position constraints.
They arise, for instance, in mechanical systems
that have rolling contact (for example, the rolling
of wheels without slipping) or certain kinds of sliding
contact (such as the sliding of skates). They are
a remarkable generalization of classical Lagrangian
and Hamiltonian systems in which one allows position
constraints only.
There are some fascinating differences between
nonholonomic systems and classical Hamiltonian
or Lagrangian systems. Among other things: nonholonomic
systems are nonvariational—they arise
from the Lagrange-d’Alembert principle and not
from Hamilton’s principle; while energy is preserved
for nonholonomic systems, momentum is
not always preserved for systems with symmetry
(i.e., there is nontrivial dynamics associated with
the nonholonomic generalization of Noether’s
theorem); nonholonomic systems are almost Poisson
but not Poisson (i.e., there is a bracket that together
with the energy on the phase space defines
the motion, but the bracket generally does not satisfy
the Jacobi identity); and finally, unlike the
Hamiltonian setting, volume may not be preserved
in the phase space, leading to interesting asymptotic
stability in some cases, despite energy conservation.
The purpose of this article is to engage
the reader’s interest by highlighting some of these
differences along with some current research in the
area. There has been some confusion in the literature
for quite some time over issues such as the
variational character of nonholonomic systems, so
it is appropriate that we begin with a brief review
of the history of the subject
Controlled Lagrangians and the stabilization of mechanical systems. I. The first matching theorem
We develop a method for the stabilization of mechanical systems with symmetry based on the technique of controlled Lagrangians. The procedure involves making structured modifications to the Lagrangian for the uncontrolled system, thereby constructing the controlled Lagrangian. The Euler-Lagrange equations derived from the controlled Lagrangian describe the closed-loop system, where new terms in these equations are identified with control forces. Since the controlled system is Lagrangian by construction, energy methods can be used to find control gains that yield closed-loop stability. We use kinetic shaping to preserve symmetry and only stabilize systems module the symmetry group. The procedure is demonstrated for several underactuated balance problems, including the stabilization of an inverted planar pendulum on a cart moving on a line and an inverted spherical pendulum on a cart moving in the plane
The energy–momentum method for the stability of non-holonomic systems
In this paper we analyze the stability of relative equilibria of nonholonomic systems (that is, mechanical systems with nonintegrable constraints such as rolling constraints). In the absence of external dissipation, such systems conserve energy, but nonetheless can exhibit
both neutrally stable and asymptotically stable, as well as linearly unstable relative equilibria. To carry out the stability analysis, we use a generalization of the energy-momentum method combined with the Lyapunov-Malkin theorem and the center manifold theorem. While this approach is consistent with the energy-momentum method for
holonomic systems, it extends it in substantial ways. The theory is illustrated with several examples, including the the rolling disk, the roller racer, and the rattleback top
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