4,731 research outputs found
Distributed Adaptive Consensus Control of High Order Unknown Nonlinear Networked Systems with Guaranteed Performance
Adaptive cooperative tracking control with prescribed performance function
(PPF) is proposed for high-order nonlinear multi-agent systems. The tracking
error originally within a known large set is confined to a smaller predefined
set using this approach. Using output error transformation, the constrained
system is relaxed and mapped to an unconstrained one. The controller is
conceived under the assumption that the agents' nonlinear dynamics are unknown
and the perceived network is structured and strongly connected. Under the
proposed controller, all agents track the trajectory of the leader node with
guaranteed uniform ultimately bounded transformed error and bounded adaptive
estimate of unknown parameters and dynamics. In addition, the proposed
controllers with PPF are distributed such that each follower agent requires
information between its own state relative to connected neighbors. Proposed
controller is validated for robustness and smoothness using highly nonlinear
heterogeneous networked system with uncertain time-varying parameters and
external disturbances. Index Terms: Prescribed performance, neuro-adaptive,
high order, Transformed error, Multi-agents, Distributed control, Consensus,
Synchronization, Transient, Steady-state error, MIMO, SISO
Systematic Convergence of Nonlinear Stochastic Estimators on the Special Orthogonal Group SO(3)
This paper introduces two novel nonlinear stochastic attitude estimators
developed on the Special Orthogonal Group \mathbb{SO}\left(3\right) with the
tracking error of the normalized Euclidean distance meeting predefined
transient and steady-state characteristics. The tracking error is confined to
initially start within a predetermined large set such that the transient
performance is guaranteed to obey dynamically reducing boundaries and decrease
smoothly and asymptotically to the origin in probability from almost any
initial condition. The proposed estimators produce accurate attitude estimates
with remarkable convergence properties using measurements obtained from
low-cost inertial measurement units. Unit-quaternion representation of the
proposed filters are presented. The estimators proposed in continuous form are
complemented by their discrete versions for the implementation purposes. The
simulation results illustrate the effectiveness and robustness of the proposed
estimators against uncertain measurements and large initialization error,
whether in continuous or discrete form. Keywods: Attitude estimates, transient,
steady-state error, nonlinear filter, special orthogonal group, SO(3),
stochastic system, stochastic differential equations, Ito, Stratonovich,
asymptotic stability, Wong-Zakai, inertial measurment unit, IMU, prescribed
performance function, Euler Angles, roll, bitch, yaw, color noise, white noise,
Nonlinear attitude filter, Nonlinear attitude observer, Orientation, nonlinear
stochastic attitude filter on SO(3), unit-quaternion based nonlinear stochastic
attitude filter, discrete stochastic attitude filter.Comment: International Journal of Robust and Nonlinear Contro
Location Management in LTE Networks using Multi-Objective Particle Swarm Optimization
Long-term evolution (LTE) and LTE-advance (LTE-A) are widely used efficient
network technologies serving billions of users, since they are featured with
high spectrum efficiency, less latency, and higher bandwidth. Despite
remarkable advantages offered by these technologies, signaling overhead remains
a major issue in accessing the network. In particular, the load of signaling is
mainly attributed to location management. This paper proposes an efficient
approach for minimizing the total signaling overhead of location management in
LTE networks using multi-objective particle swarm optimization (MOPSO).
Tracking area update (TAU) and paging are considered to be the main elements of
the signaling overhead of optimal location management in LTE. In addition, the
total inter-list handover contributes significantly to the total signaling
overhead. However, the total signaling cost of TAU and paging is adversely
related to the total inter-list handover. Two cost functions should be
minimized, the first is the total signaling cost of TAU and paging and the
second is the total signaling overhead. The trade-off between these two
objectives can be circumvented by MOPSO, which alleviates the total signaling
overhead. A set of non-dominated solutions on the Pareto-optimal front is
defined and the best compromise solution. The proposed algorithm results
feasible compromise solution, minimizing the signaling overhead and the
consumption of the power battery of a user. The efficacy and the robustness of
the proposed algorithm have been proven using large scale environment problem
illustrative example. The location management in LTE networks using MOPSO best
compromise solution has been compared to a mixed integer non-linear programming
(MINLP) algorithm. Location management mobility management entity MME pooling
clustering SON Distributed Centralized pooling scheme fuzzy implementation
setup LP-CPLEXComment: Computer Network
Energy-efficient Deployment of Relay Nodes in Wireless Sensor Networks using Evolutionary Techniques
Random deployment of sensor nodes is susceptible to initial communication
hole, even when the network is densely populated. However, eliminating holes
using structural deployment poses its difficulties. In either case, the
resulting coverage holes can degrade overall network performance and lifetime.
Many solutions utilizing Relay Nodes (RNs) have been proposed to alleviate this
problem. In this regard, one of the recent solutions proposed using Artificial
Bee Colony (ABC) to deploy RNs. This paper proposes RN deployment using two
other evolutionary techniques - Gravitational Search Algorithm (GSA) and
Differential Evolution (DE) and compares them with existing solution that uses
ABC. These popular optimization tools are deployed to optimize the positions of
relay nodes for lifetime maximization. Proposed algorithms guarantee
satisfactory RNs utilization while maintaining desired connectivity level. It
is shown that DE-based deployment improves the network lifetime better than
other optimization heuristics considered.Comment: Int J Wireless Inf Networks (2018
Attitude Determination and Estimation using Vector Observations: Review, Challenges and Comparative Results
This paper concerns the problem of attitude determination and estimation. The
early applications considered algebraic methods of attitude determination.
Attitude determination algorithms were supplanted by the Gaussian attitude
estimation filters (which continue to be widely used in commercial
applications). However, the sensitivity of the Gaussian attitude filter to the
measurement noise prompted the introduction of the nonlinear attitude filters
which account for the nonlinear nature of the attitude dynamics problem and
allow for a simpler filter derivation. This paper presents a survey of several
types of attitude determination and estimation algorithms. Each category is
detailed and illustrated with literature examples in both continuous and
discrete form. A comparison between these algorithms is demonstrated in terms
of transient and steady-state error through simulation results. The comparison
is supplemented by statistical analysis of the error-related mean, infinity
norm, and standard deviation of each algorithm in the steady-state. Keywords:
Comparative Study, Attitude, Determination, Estimation, Filter, Adaptive
Filter, Gaussian Filter, Nonlinear Filter, Overview, Review, Rodrigues Vector,
Special Orthogonal Group, Unit-quaternion, Angle-axis, Determinstic,
Stochastic, Continuous, Discrete, Multiplicative extended kalman filter, KF,
EKF, MEKF, white noise, colored noise
Special Orthogonal Group SO(3), Euler Angles, Angle-axis, Rodriguez Vector and Unit-Quaternion: Overview, Mapping and Challenges
The attitude of a rigid-body in the three dimensional space has a unique and
global definition on the Special Orthogonal Group SO (3). This paper gives an
overview of the rotation matrix, attitude kinematics and parameterization. The
four most frequently used methods of attitude representations are discussed
with detailed derivations, namely Euler angles, angle-axis parameterization,
Rodriguez vector, and unit-quaternion. The mapping from one representation to
others including SO (3) is given. Also, important results which could be useful
for the process of filter and/or control design are given. The main weaknesses
of attitude parameterization using Euler angles, angle-axis parameterization,
Rodriguez vector, and unit-quaternion are illustrated. Keywords: Special
Orthogonal Group 3, Euler angles, Angle-axis, Rodriguez Vector,
Unit-quaternion, SO(3), Mapping, Parameterization, Attitude, Control, Filter,
Observer, Estimator, Rotation, Rotational matrix, Transformation matrix,
Orientation, Transformation, Roll, Pitch, Yaw, Quad-rotor, Unmanned aerial
vehicle, Robot, spacecraft, satellite, UAV, Underwater vehicle, autonomous,
system, Pose, literature review, survey, overview, comparison, comparative
study, body frame, identity, origin, dynamics, kinematics, Lie group, inertial
frame, zero, filter, control, estimate, observation, measurement, 3D, three
dimensional space, advantage, disadvantage
Optimal Placement of Relay Nodes in Wireless Sensor Network Using Artificial Bee Colony Algorithm
Deploying sensor nodes randomly most of the time generates initial
communication hole even in highly dense networks. These communication holes
cannot be totally eliminated even when the deployment is done in a structured
manner. In either case, the resulting inter-node distances may degrade the
performance of the network. This paper proposes an enhanced deployment
algorithm based on Artificial Bees Colony (ABC). The ABC-based deployment is
guaranteed to extend the lifetime by optimizing the network parameters and
constraining the total number of deployed relays. Simulations validate the
effectiveness of the proposed strategy under different cases of problem
complexity. Results show that the proposed approach improves the network
lifetime considerably when compared to solutions reported in the literature
such as Shortest Path 3-D grid Deployment (SP3D) algorithm.
Keywords: Artificial Bee Colony, Wiener index, optimization, relay nodes,
Laplacian matrix, connected graph, vertex, edge, average distance, Laplacian
matrix, Shortest Path 3-D grid Deployment, ABC, SP3D, RNs/CHs, ILDCC, SPRN,
O3DwLC, algorithm, approach, single objective, multi objective, eigenvalue,
First Phase Relay Nodes, NP-Hard, Deployment, proposed, second phase relay
nodes, Ideal Media Access Control, cluster head, Minimum Spanning Tree,
non-deterministic polynomial-time hard, two-layer hierarchical structure,
Optimized 3-D deployment with Lifetime Constraints, flux, Wireless Sensor
Network, size, Lifetime, Network load, number of nodes using packets,
Connectivity, two layered, protocols, collision and interference
Guaranteed Performance of Nonlinear Attitude Filters on the Special Orthogonal Group SO(3)
This paper proposes two novel nonlinear attitude filters evolved directly on
the Special Orthogonal Group SO(3) able to ensure prescribed measures of
transient and steady-state performance. The tracking performance of the
normalized Euclidean distance of attitude error is trapped to initially start
within a large set and converge systematically and asymptotically to the origin
from almost any initial condition. The convergence rate is guaranteed to be
less than the prescribed value and the steady-state error does not exceed a
predefined small value. The first filter uses a set of vectorial measurements
with the need for attitude reconstruction. The second filter instead uses only
a rate gyroscope measurement and two or more vectorial measurements. These
filters provide good attitude estimates with superior convergence properties
and can be applied to measurements obtained from low cost inertial measurement
units (IMUs). Simulation results illustrate the robustness and effectiveness of
the proposed attitude filters with guaranteed performance considering high
level of uncertainty in angular velocity along with body-frame vector
measurements. Keywords: Attitude, estimate, estimator, observer, filter,
nonlinear deterministic attitude filter, special orthogonal group, Euler
angles, angle-axis, Rodrigues vector, mapping, parameterization, prescribed
performance, representation, robust, Multiplicative Extended Kalman Filter, KF,
EKF, MEKF, asymptotic stability, almost global asymptotic, noise, rotational
matrix, identity, origin, orientation, body frame, inertial frame, rigid body,
three dimensional, 3D, space, micro electromechanical systems, sensor, MEMS,
roll, pitch, yaw, UAVs, QUAV, SVD, fixed, moving, vehicles, robot, robotic
system, spacecraft, submarine, underwater vehicle, passive complementary
filter, explicit complementary filter, autonomous, comparative study, SO(3).Comment: 2018, IEEE Acces
Guaranteed Performance Nonlinear Observer for Simultaneous Localization and Mapping
A geometric nonlinear observer algorithm for Simultaneous Localization and
Mapping (SLAM) developed on the Lie group of \mathbb{SLAM}_{n}\left(3\right) is
proposed. The presented novel solution estimates the vehicle's pose (i.e.
attitude and position) with respect to landmarks simultaneously positioning the
reference features in the global frame. The proposed estimator on manifold is
characterized by predefined measures of transient and steady-state performance.
Dynamically reducing boundaries guide the error function of the system to
reduce asymptotically to the origin from its starting position within a large
given set. The proposed observer has the ability to use the available velocity
and feature measurements directly. Also, it compensates for unknown constant
bias attached to velocity measurements. Unit-qauternion of the proposed
observer is presented. Numerical results reveal effectiveness of the proposed
observer. Keywords: Nonlinear filter algorithm, Nonlinear observer for
Simultaneous Localization and Mapping, Nonlinear estimator, nonlinear SLAM
observer on manifold, nonlinear SLAM filter on matrix Lie Group, observer
design, asymptotic stability, systematic convergence, Prescribed performance
function, pose estimation, attitude filter, position filter, feature filter,
landmark filter, gradient based SLAM observer, gradient based observer for
SLAM, adaptive estimate, SLAM observer, observer SLAM framework, equivariant
observer, inertial vision unit, visual, SLAM filter, SE(3), SO(3)
Neuro-adaptive distributed control with prescribed performance for the synchronization of unknown nonlinear networked systems
This paper proposes a neuro-adaptive distributive cooperative tracking
control with prescribed performance function (PPF) for highly nonlinear
multi-agent systems. PPF allows error tracking from a predefined large set to
be trapped into a predefined small set. The key idea is to transform the
constrained system into unconstrained one through transformation of the output
error. Agents' dynamics are assumed to be completely unknown, and the
controller is developed for strongly connected structured network. The proposed
controller allows all agents to follow the trajectory of the leader node, while
satisfying necessary dynamic requirements. The proposed approach guarantees
uniform ultimate boundedness of the transformed error and the adaptive neural
network weights. Simulations include two examples to validate the robustness
and smoothness of the proposed controller against highly nonlinear
heterogeneous networked system with time varying uncertain parameters and
external disturbances
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