7 skills found
binyisu / FoodHSIC-based Moving WeightAveraging for Few-Shot Open-Set Object Detection (ACM MM'23)
vohidjon123 / Google(function(sttc){/* Copyright The Closure Library Authors. 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frank1ma / DDRTC Of UMSsThis paper presents a data-driven control design framework to achieve robust tracking control without exploiting mathematical model of nonlinear underactuated mechanical systems (UMS). The method leverages the differential flatness property of linearized systems and online estimation and compensation of disturbances by active disturbance rejection control (ADRC). The differentially flat output is derived directly from measured data with unknown dynamics and parameters of UMS by the flat output identification (FOID) algorithm. A reduced nominal model of UMS is proposed to simplify the process of finding flat output and trajectory planning. Technique of sparse regression is applied to identify the relationships between flat output and system states, which reduces the order of the well-known extended state observer (ESO) and thereby make the ESO more effective for both trajectory planning and tracking in terms …
attaoveisi / Disturbance ObserverIn this note, disturbance rejection control (DRC) based on unknown input observation (UIO), and disturbance-observer based control (DOBC) methods are revisited for a class of MIMO systems with mismatch disturbance conditions. In both of these methods, the estimated disturbance is considered to be in the feedback channel. The disturbance term could represent either unknown mismatched signals penetrating the states, or unknown dynamics not captured in the modeling process, or physical parameter variations not accounted for in the mathematical model of the plant. Unlike the high-gain approaches and variable structure methods, a systematic synthesis of the state/disturbance observer-based controller is carried out. For this purpose, first, using a series of singular value decompositions, the linearized plant is transformed into disturbance-free and disturbance-dependent subsystems. Then, functional state reconstruction based on generalized detectability concept is proposed for the disturbance-free part. Then, a DRC based on quadratic stability theorem is employed to guarantee the performance of the closed-loop system. An important contribution offered in this article is the independence of the estimated disturbance from the control input which seem to be missing in the literature for disturbance decoupling problems. In the second method, DOBC is reconsidered with the aim of achieving a high level of robustness against modeling uncertainties and matched/mismatched disturbances, while at the same time retaining performance. Accordingly, unlike the first method, DRC, full information state observation is developed independent of the disturbance estimation. An advantage of such a combination is that disturbance estimation does not involve output derivatives. Finally, the case of systems with matched disturbances is presented as a corollary of the main results.
attaoveisi / Hybrid Fuzzy Kalman FilterMixed Kalman-Fuzzy Sliding Mode State Observer in Disturbance Rejection Control of a Vibrating Smart Structure Atta Oveisi*1, Tamara Nestorović1 1Ruhr-Universität Bochum, Mechanik adaptiver Systeme, Institut Computational Engineering, D-44801, Bochum, Germany. E-Mail: atta.oveisi@rub.de ABSTRACT In the controllers that are synthesized on a nominal model of the nonlinear plant, the parametric matched uncertainties and nonlinear/unmodeled dynamics of high order nature can significantly affect the performance of the closed-loop system. In this note, owing to the robust character of the sliding mode observer against modeling perturbations, measurement noise, and unknown disturbances and due to the non-fragile behavior of the Kalman filter against process noise, a mixed Kalman sliding mode state-observer is proposed and later enhanced by the addition of an intelligent fuzzy agent. In light of the proposed technique, the chattering phenomena and the conservative boundary neighboring layer of the high gain sliding mode observer are addressed. Then, a robust active disturbance rejection controller is developed by using static feedback of the estimated states using direct Lyapunov quadratic stability Theorem. The reduced order plant for control design purposes is subjected to some simulated square-integrable disturbances and is assumed to have mismatch uncertainties in system matrices. Finally, the robust performance of the closed-loop scheme with respect to the mentioned perturbation signals and modeling imperfections is tested by implementing the control system on a mechanical vibrating smart cantilever beam. Keywords: Fuzzy system; Nonlinear control; Active disturbance rejection; Kalman Filter; Vibration suppression.
xymtxwd / OSDA With Soft RejectionPytorch implementation of Open Set Domain Adaptation with Soft Unknown-Class Rejection.
HoiM / UIR Loss Selected CodeSelected code for Unknown Identity Rejection Loss
