A robust finite-horizon Kalman filter is designed for linear discrete-time systems subject to norm-bounded uncertainties in the modeling parameters and missing measurements.The missing measurements were described by a...A robust finite-horizon Kalman filter is designed for linear discrete-time systems subject to norm-bounded uncertainties in the modeling parameters and missing measurements.The missing measurements were described by a binary switching sequence satisfying a conditional probability distribution,the commonest cases in engineering,such that the expectation of the measurements could be utilized during the iteration process.To consider the uncertainties in the system model,an upperbound for the estimation error covariance was obtained since its real value was unaccessible.Our filter scheme is on the basis of minimizing the obtained upper bound where we refer to the deduction of a classic Kalman filter thus calculation of the derivatives are avoided.Simulations are presented to illustrate the effectiveness of the proposed approach.展开更多
This study is concerned with the H∞control for the full-envelope unmanned aerial vehicles(UAVs) in the presence of missing measurements and external disturbances. With the dramatic parameter variations in large fligh...This study is concerned with the H∞control for the full-envelope unmanned aerial vehicles(UAVs) in the presence of missing measurements and external disturbances. With the dramatic parameter variations in large flight envelope and the locally overlapped switching laws in flight, the system dynamics is modeled as a locally overlapped switched polytopic system to reduce designing conservatism and solving complexity. Then,considering updating lags of controller s switching signals and the weighted coefficients of the polytopic subsystems induced by missing measurements, an asynchronous H∞control method is proposed such that the system is stable and a desired disturbance attenuation level is satisfied. Furthermore, the sufficient existing conditions of the desired switched parameter-dependent H∞controller are derived in the form of linear matrix inequality(LMIs) by combining the switched parameter-dependent Lyapunov function method and average dwell time method.Finally, a numerical example based on a highly maneuverable technology(Hi MAT) vehicle is given to verify the validity of the proposed method.展开更多
The supposedly missing dark energy of the cosmos is found quantitatively in a direct analysis without involving ordinary energy. The analysis relies on five dimensional Kaluza-Klein spacetime and a Lagrangian constrai...The supposedly missing dark energy of the cosmos is found quantitatively in a direct analysis without involving ordinary energy. The analysis relies on five dimensional Kaluza-Klein spacetime and a Lagrangian constrained by an auxiliary condition. Employing the Lagrangian multiplier method, it is found that this multiplier is equal to the dark energy of the cosmos and is given by where E is energy, m is mass, c is the speed of light, and λ is the Lagrangian multiplier. The result is in full agreement with cosmic measurements which were awarded the 2011 Nobel Prize in Physics as well as with the interpretation that dark energy is the energy of the quantum wave while ordinary energy is the energy of the quantum particle. Consequently dark energy could not be found directly using our current measurement methods because measurement leads to wave collapse leaving only the quantum particle and its ordinary energy intact.展开更多
基金Supported by the National Natural Science Foundation for Outstanding Youth(61422102)
文摘A robust finite-horizon Kalman filter is designed for linear discrete-time systems subject to norm-bounded uncertainties in the modeling parameters and missing measurements.The missing measurements were described by a binary switching sequence satisfying a conditional probability distribution,the commonest cases in engineering,such that the expectation of the measurements could be utilized during the iteration process.To consider the uncertainties in the system model,an upperbound for the estimation error covariance was obtained since its real value was unaccessible.Our filter scheme is on the basis of minimizing the obtained upper bound where we refer to the deduction of a classic Kalman filter thus calculation of the derivatives are avoided.Simulations are presented to illustrate the effectiveness of the proposed approach.
基金supported by National Natural Science Foundation of China(61273083,61074027)
文摘This study is concerned with the H∞control for the full-envelope unmanned aerial vehicles(UAVs) in the presence of missing measurements and external disturbances. With the dramatic parameter variations in large flight envelope and the locally overlapped switching laws in flight, the system dynamics is modeled as a locally overlapped switched polytopic system to reduce designing conservatism and solving complexity. Then,considering updating lags of controller s switching signals and the weighted coefficients of the polytopic subsystems induced by missing measurements, an asynchronous H∞control method is proposed such that the system is stable and a desired disturbance attenuation level is satisfied. Furthermore, the sufficient existing conditions of the desired switched parameter-dependent H∞controller are derived in the form of linear matrix inequality(LMIs) by combining the switched parameter-dependent Lyapunov function method and average dwell time method.Finally, a numerical example based on a highly maneuverable technology(Hi MAT) vehicle is given to verify the validity of the proposed method.
文摘The supposedly missing dark energy of the cosmos is found quantitatively in a direct analysis without involving ordinary energy. The analysis relies on five dimensional Kaluza-Klein spacetime and a Lagrangian constrained by an auxiliary condition. Employing the Lagrangian multiplier method, it is found that this multiplier is equal to the dark energy of the cosmos and is given by where E is energy, m is mass, c is the speed of light, and λ is the Lagrangian multiplier. The result is in full agreement with cosmic measurements which were awarded the 2011 Nobel Prize in Physics as well as with the interpretation that dark energy is the energy of the quantum wave while ordinary energy is the energy of the quantum particle. Consequently dark energy could not be found directly using our current measurement methods because measurement leads to wave collapse leaving only the quantum particle and its ordinary energy intact.
