Statistical Analysis with Missing Data

This paper presents control and coordination algorithms for groups of vehicles. The focus is on autonomous vehicle networks performing distributed sensing tasks where each vehicle plays the role of a mobile tunable sensor. The paper proposes gradient descent algorithms for a class of utility functions which encode optimal coverage and sensing policies. The resulting closed-loop behavior is adaptive, distributed, asynchronous, and verifiably correct.

Coverage control for mobile sensing networks

In this paper, we present two novel algorithms to realize a finite dimensional, linear time-invariant state-space model from input-output data. The algorithms have a number of common features. They are classified as one of the subspace model identification schemes, in that a major part of the identification problem consists of calculating specially structured subspaces of spaces defined by the input-output data. This structure is then exploited in the calculation of a realization. Another common feature is their algorithmic organization: an RQ factorization followed by a singular value decomposition and the solution of an overdetermined set (or sets) of equations. The schemes assume that the underlying system has an output-error structure and that a measurable input sequence is available. The latter characteristic indicates that both schemes are versions of the MIMO Output-Error State Space model identification (MOESP) approach. The first algorithm is denoted in particular as the (elementary MOESP scheme)...

Subspace model identification-Part 1. The output-error state-space model identification class of algorithms

http://www.cs.columbia.edu/~julia/papers/gobl03.pdf

The role of voice quality in communicating emotion, mood and attitude

Battery technology is the bottleneck of the electric vehicles (EVs). It is important, both in theory and practical application, to do research on the modeling and state estimation of batteries, which is essential to optimizing energy management, extending the life cycle, reducing cost, and safeguarding the safe application of batteries in EVs. However, the batteries, with strong time-variables and nonlinear characteristics, are further influenced by such random factors such as driving loads, operational conditions, in the application of EVs. The real-time, accurate estimation of their state is challenging. The classification of the estimation methodologies for estimating state-of-charge (SoC) of battery focusing with the estimation method/algorithm, advantages, drawbacks, and estimation error are systematically and separately discussed. Especially for the battery packs existing of the inevitable inconsistency in cell capacity, resistance and voltage, the advanced characterizing monomer selection, and bias correction-based method has been described and discussed. The review also presents the key feedback factors that are indispensable for accurate estimation of battery SoC, it will be helpful for ensuring the SoC estimation accuracy. It will be very helpful for choosing an appropriate method to develop a reliable and safe battery management system and energy management strategy of the EVs. Finally, the paper also highlights a number of key factors and challenges, and presents the possible recommendations for the development of next generation of smart SoC estimation and battery management systems for electric vehicles and battery energy storage system.

Critical Review on the Battery State of Charge Estimation Methods for Electric Vehicles

In this paper, we propose a self-triggered formulation of model predictive control for continuous-time nonlinear input-affine networked control systems. Our control method specifies not only when to execute control tasks but also provides a way to discretize the optimal control trajectory into several control samples, so that the reduction of communication load will be obtained. Stability analysis under the sample-and-hold implementation is also given, which guarantees that the state converges to a terminal region where the system can be stabilized by a local state feedback controller. Some simulation examples validate our proposed framework.

Self-Triggered Model Predictive Control for Nonlinear Input-Affine Dynamical Systems via Adaptive Control Samples Selection

Event-triggered intermittent sampling for nonlinear model predictive control☆

In this study, the authors propose an aperiodic formulation of model predictive control for distributed agents with additive bounded disturbances. In the proposed method, each agent solves an optimal control problem only when certain control performances cannot be guaranteed according to certain triggering rules. This could lead to the reduction of energy consumption and the alleviation of over usage of communication resources. The triggering rules are derived for both event-triggered and self-triggered formulation. The authors proposed method is also verified through a simulation example.

/pdf/distributed-aperiodic-model-predictive-control-for-multi-54peec0jix.pdf

Distributed aperiodic model predictive control for multi-agent systems

In this paper, we propose a new aperiodic formulation of model predictive control for nonlinear continuous-time systems. Unlike earlier approaches, we provide event-triggered conditions without using the optimal cost as a Lyapunov function candidate. Instead, we evaluate the time interval when the optimal state trajectory enters a local set around the origin. The obtained event-triggered strategy is more suitable for practical applications than the earlier approaches in two directions. First, it does not include parameters (e.g., Lipschitz constant parameters of stage and terminal costs) which may be a potential source of conservativeness for the event-triggered conditions. Second, the event-triggered conditions are necessary to be checked only at certain sampling time instants, instead of continuously. This leads to the alleviation of the sensing cost and becomes more suitable for practical implementations under a digital platform. The proposed event-triggered scheme is also validated through numerical simulations.

Shuichi Adachi

Papers

Self-Triggered Model Predictive Control for Nonlinear Input-Affine Dynamical Systems via Adaptive Control Samples Selection

Event-triggered intermittent sampling for nonlinear model predictive control☆

Distributed aperiodic model predictive control for multi-agent systems

Event-Triggered Intermittent Sampling for Nonlinear Model Predictive Control

Simultaneous Estimation of Vocal Tract and Voice Source Parameters Based on an ARX Model