Unknown Model Research Articles

Adaptive Output Feedback Control for Uncertain Nonlinear Systems with Unknown Modeling Errors

AbstractIt is well known that unknown modeling errors cannot be avoided in practice. Such unmeasured uncertainties are usually denoted as unknown nonlinear functions that exist in every channel of the system equation. This paper aims to develop an output feedback adaptive control scheme by constructing state estimation filters to address such unknown modeling errors. In the controller design, these uncertainties caused by modeling errors will be accumulated to the last step for compensation. Unknown parameters existing in the upper bound functions of unknown nonlinear functions and system parameters are estimated synchronously based on tuning function approaches. It is shown that the designed output feedback controller can ensure the stability and tracking performance of the closed‐loop system, and the transient performance in terms of a truncated norm is also established.

Remaining useful life prediction of proton exchange membrane fuel cell based on Wiener process and Bayesian GRU network considering multi-source uncertainties

ABSTRACT Proton exchange membrane fuel cell (PEMFC) is considered as one of the most promising green energy devices. Although fruitful results can be available for the remaining useful life (RUL) prediction of PEMFC, stochastic uncertainties have never been considered. To tackle this problem, a hybrid method is proposed in this paper. Wiener process with temporal uncertainty and individual uncertainty is adopted to model the degradation of the state of health (SOH), which is then estimated from monitoring voltage with measurement noise using the unscented Kalman filter (UKF), where unknown filtering and model parameters are jointly identified by expectation-maximization (EM) algorithm and Rauch-Tung-Striebel (RTS) smoother. Finally, gated recurrent unit (GRU) network is employed to realize the RUL prediction with the prediction uncertainty quantified by the Bayesian variational inference technology. The proposed method is verified on the experimental data. Results indicate that smaller mean absolute percentage error (MAPE), root mean square error (RMSE), and mean absolute error (MAE) values can be obtained compared with other methods. When 60% data are used for prediction, the proposed method can achieve a RUL prediction accuracy with 1.63% and 2.17% relative errors under static and dynamic conditions, respectively, which illustrates the feasibility and superiority of the proposed method.

A MIC-LSTM based parameter extraction method for single-diode PV model

In recent years, the installed capacity of renewable energy systems has seen rapid growth, particularly in photovoltaic (PV) power. Photovoltaic modules, being the fundamental elements of the PV system, play a crucial role in determining system performance. However, the challenge arises from the inconsistent decay rates of PV modules, which significantly impact the accuracy of PV system modeling. To address this issue, this paper introduces a novel MIC-LSTM based parameter extraction method for the single-diode PV model. This method focuses on accurately deriving PV module model parameters under various decay rates. By establishing a mapping relationship between the current-voltage (I-V) curve characteristics and the five unknown parameters in the photovoltaic module model, the proposed method demonstrates high precision in parameter extraction. Simulation and experimental verifications are carried out to validate the proposed method, where the extraction accuracy is 99.3%, 98.39%, 98.85%, 97.91%, and 98.36% for the five unknown model parameters.

The O(N) monolith reloaded: sum rules and Form Factor Bootstrap

We revisit the space of gapped quantum field theories with a global O(N) symmetry in two spacetime dimensions. Previous works using S-matrix bootstrap revealed a rich space in which integrable theories such as the non-linear sigma model appear at special points on the boundary, along with an abundance of unknown models hinting at a non conventional UV behaviour. We extend the S-matrix set-up by including into the bootstrap form factors and spectral functions for the stress-energy tensor and conserved O(N) currents. Sum rules allow us to put bounds on the central charges of the conformal field theory (CFT) in the UV. We find that a big portion of the boundary can only flow from CFTs with infinite central charges. We track this result down to a particular behaviour of the amplitudes in physical kinematics and discuss its physical implications.

Probabilistic models of dynamic increase factor (DIF) for reinforced concrete structures: A Bayesian approach

The response of structures under rapidly varying loads can be affected by strain rate sensitivity generally expressed using Dynamic Increase Factor (DIF). Current models for estimating the DIF in Reinforced Concrete (RC) structures are generally deterministic and have restricted applicability due to their dependence on limited experimental data resulting in bias. This paper overcomes these limitations by proposing three probabilistic models that quantify compressive and tensile concrete and steel DIF, accounting for the relevant uncertainties. The proposed models are based on existing deterministic models with the addition of probabilistic correction terms. Bayesian updating is employed to estimate the unknown model parameters using observational data from a large collection of experimental observations. The models incorporate model uncertainties stemming from assumed model form and (potential) missing variables through a model error term. The proposed probabilistic models are used to evaluate the reliability of RC structures under dynamic loads. As an illustration, the proposed probabilistic models are used to estimate the reliability of an example RC column under combined dynamic axial force and moment, and a RC column or beam under dynamic bending moments resulting in cracking. In the two examples, we consider the ACI 318-19 requirements for Ultimate Limit State (ULS) and Serviceability Limit States (SLS). In comparison to deterministic DIF models, the proposed probabilistic models yield enhanced predictive accuracy, presenting a practical and robust approach to assess the structural reliability under impact and blast loads.

Cooperative Maritime Search of Multi-Ship Based on Improved Robust Line-of-Sight Guidance

In this paper, an improved robust line-of-sight (RLOS) guidance-based fuzzy sliding mode controller is presented to control underactuated ships to conduct the cooperative maritime search operation under the presented improved creeping line search method. First, considering that the ship cannot perform turning with corners, an improved creeping line search method is presented by integrating the Bezier method into the traditional creeping line search method to smooth the transition points with corners and employing the cubic spline interpolation method to generate continuous reference paths. Second, an improved RLOS guidance method is presented for the first time by exploring the idea of robust adaptive control to mitigate the chattering effect of the RLOS guidance. Third, the fuzzy logic system with approximate ability is integrated into the design of sliding mode controller to handle unknown nonlinear model dynamics and environmental disturbances. Finally, an improved RLOS guidance-based fuzzy sliding mode controller is presented. The closed-loop stability is guaranteed by the Lyapunov theorem. Comparative simulations are conducted to illustrate the advantages and verify the effectiveness of the presented method.

Probabilistic physics-informed neural network for seismic petrophysical inversion

The main challenge in the inversion of seismic data to predict the petrophysical properties of hydrocarbon-saturated rocks is that the physical relations that link the data to the model properties often are nonlinear and the solution of the inverse problem is generally not unique. As a possible alternative to traditional stochastic optimization methods, we develop a method to adopt machine-learning algorithms by estimating relations between data and unknown variables from a training data set with limited computational cost. We develop a probabilistic approach for seismic petrophysical inversion based on physics-informed neural network (PINN) with a reparameterization network. The novelty of our approach includes the definition of a PINN algorithm in a probabilistic setting, the use of an additional neural network (NN) for rock-physics model hyperparameter estimation, and the implementation of approximate Bayesian computation to quantify the model uncertainty. The reparameterization network allows us to include unknown model parameters, such as rock-physics model hyperparameters. Our method predicts the most likely model of petrophysical variables based on the input seismic data set and the training data set and provides a quantification of the uncertainty of the model. The method is scalable and can be adapted to various geophysical inverse problems. We test the inversion on a North Sea data set with poststack and prestack data to obtain the prediction of petrophysical properties. Compared with regular NNs, the predictions of our method indicate higher accuracy in the predicted results and allow us to quantify the posterior uncertainty.

Predefined-Time Convergent Kinematic Control of Robotic Manipulators With Unknown Models Based on Hybrid Neural Dynamics and Human Behaviors.

This article proposes a model-free kinematic control method with predefined-time convergence for robotic manipulators with unknown models. The predefined-time convergence property guarantees that the regulation task can be finished by robotic manipulators in a preset time, in spite of the initial state of manipulators. This feature will facilitate the scheduling of a series of tasks in industrial applications. To this end, a varying-parameter predefined-time convergent zeroing neural dynamics (ZND) model is first proposed and employed to solve the regulation problem. As well as the primary task, a conventional ZND model is utilized to achieve the avoidance of obstacle. The stability of the proposed controller is analyzed based on the Lyapunov stability theory. For the sake of dealing with the unknown kinematic model of robotic manipulators, gradient neural dynamics (GND) models are exploited to adapt the Jacobian matrices just relying on the control signal and sensory output, which enables us to control robotic manipulators in a model-free manner. Finally, the efficacy and merits of the proposed control method are verified by simulations and experiments, including a comparison with the existing method.

Compound Learning-Based Model Predictive Control Approach for Ducted-Fan Aerial Vehicles.

Designing an efficient learning-based model predictive control (MPC) framework for ducted-fan unmanned aerial vehicles (DFUAVs) is a difficult task due to several factors involving uncertain dynamics, coupled motion, and unorthodox aerodynamic configuration. Existing control techniques are either developed from largely known physics-informed models or are made for specific goals. In this regard, this article proposes a compound learning-based MPC approach for DFUAVs to construct a suitable framework that exhibits efficient dynamics learning capability with adequate disturbance rejection characteristics. At the start, a nominal model from a largely unknown DFUAV model is achieved offline through sparse identification. Afterward, a reinforcement learning (RL) mechanism is deployed online to learn a policy to facilitate the initial guesses for the control input sequence. Thereafter, an MPC-driven optimization problem is developed, where the obtained nominal (learned) system is updated by the real system, yielding improved computational efficiency for the overall control framework. Under appropriate assumptions, stability and recursive feasibility are compactly ensured. Finally, a comparative study is conducted to illustrate the efficacy of the designed scheme.

Industrial Binocular Vision System Calibration With Unknown Imaging Model

Industrial Binocular Vision System Calibration With Unknown Imaging Model

Data-Based Output Synchronization of Discrete-Time Heterogeneous Multiagent Systems With Sensor Faults.

In this article, the output synchronization of heterogeneous multiagent systems with sensor faults is considered. To detect and tolerate the faults, a number of detection mechanisms and fault-tolerant controllers (FTCs) have been proposed. Whereas, the existing methods require the precise model and they cannot be used when model information is unknown. Moreover, some designed parameters are required for the fault information in existing FTCs. To solve the above problems, the data-based detection mechanism and data-based FTC are proposed in this article. The disadvantage of inapplicability to unknown system model is overcome by the proposed methods. Furthermore, the fault information in the proposed controller is directly acquired from system data, where the additional parameters to be designed are avoided. Finally, the validity of the presented methods is shown via simulation example.

Model Predictive Control for water management of a two-reservoir hydroelectric power plant

In the present work, model predictive control techniques are applied to the water management of a two-reservoir hydropower plant. The availability of forecasts on water requests by the hydroelectric plant was assumed and this motivated the adoption of a model predictive control approach. Ad hoc model mismatch compensation strategies has been developed which takes into account for unknown and unmeasured water flows and model uncertainties. The MPC strategy has been designed based on first principles linear model equations and on assigned control specifications. MPC parameter tuning is suitably adapted to the occurrence of specific state conditions, thus enabling optimal management of conditions of possible reservoir overflow, limiting water wastage while ensuring prompt reaction to possible variation in water demand related to the hydropower production plan. The reliability of the proposed approach has been tested through tailored simulation experiments, taking into account different significant scenarios.

Optimization-Driven DRL-Based Joint Beamformer Design for IRS-Aided ITSN Against Smart Jamming Attacks

This paper investigates an intelligent reflecting surfaces (IRS) aided anti-jamming communication strategy in the integrated terrestrial-satellite network (ITSN), where the IRS is exploited to mitigate jamming interference and enhance the integrated system communication performance. In such a network, the terrestrial network and satellite network are co-existing with a spectrum-sharing scheme in the presence of a multi-antenna jammer. We aim at maximizing the weighted sum rate (WSR) of all users by jointly optimizing the terrestrial beamformers and IRS phase shifts while considering the signal-to-interference-plus-noise ratio (SINR) requirements of legitimate users. Different from the non-convex optimization techniques utilized in the IRS-related problem, a novel optimization-driven deep reinforcement learning (DRL) algorithm is proposed, which leverages both the robustness of model-free learning approaches and the efficiency of model-based optimization methods. In the optimization module of the proposed algorithm, we analyze the smart jammer under the unknown jamming model and derive a lower bound of the anti-jamming uncertainty, such that the IRS-aided anti-jamming problem can be solved by alteration method with second-order cone programming (SOCP) algorithm and semidefinite relaxation (SDR) technique. Simulation results demonstrate that the IRS can enhance the anti-jamming performance efficiently, and the proposed optimization-driven DRL algorithm can improve both the learning rate and the system performance compared with existing solutions.

Dynamic Surface Intelligent Robust Control of Nonlinear Systems With Fixed-Time Sliding-Mode Observer.

The high tracking control precision and fast finite-time convergence for nonlinear systems is a significant challenge due to complex nonlinearity and unknown disturbances. To address this challenge, a dynamic surface intelligent robust control strategy with fixed-time sliding-mode observer (DSIRC-SMO) is proposed to improve the tracking control performance in a finite time. First, adaptive fuzzy neural network based on a predictor (P-AFNN) is designed to imitate the complex nonlinearity. In particular, the weight adaptive law is formulated by utilizing the prediction error information, which improves the accuracy of approximating the nonlinear system. Second, the fixed-time sliding-mode observer (SMO) is integrated into the dynamic surface control technique to deal with unknown disturbances and modeling errors in a fixed time. This integration allows for timely updates the dynamic surface using observation information, thereby enhancing the system's anti-interference capability. Then, the fixed-time convergence of SMO is proven. Third, the proposed DSIRC-SMO can be effectively implemented and the finite-time convergence of DSIRC-SMO is proven in detail based on the fixed-time convergence of SMO. Finally, numerical simulation and actual wastewater treatment processes simulation are conducted to validate the effectiveness of DSIRC-SMO.

Optimal Fully Actuated System Approach-Based Trajectory Tracking Control for Robot Manipulators.

In this article, a trajectory tracking control strategy is proposed for robot manipulators via a fully actuated system (FAS) approach, which has shown its simplicity and flexibility for most of the nonlinear controller design. However, the motion control for robot manipulators is more complicated since unknown dynamical model, external disturbances, friction forces, and various physical constraints are required to be considered. Therefore, the FAS approach cannot be straightforwardly applied. To address these challenges, the dynamic model of robot manipulators is established via model identification methods. Furthermore, based on the identified model, an FAS composite control strategy with simple structure is designed, which is achieved by integrating a high-order disturbance observer (HODO) in the inner loop, with an FAS trajectory tracking controller in the outer loop. Specifically, the HODO is utilized for handling the uncertain dynamics and external disturbances. Moreover, the controller gains are optimized using a gradient-based optimal parameter tuning method (OPTM). By imposing joint angle constraints, joint angular velocity constraints, and input torque limits into the formulation, the OPTM also ensures the satisfaction of these physical constraints. Numerical simulations and experiments are provided to validate the performance of the proposed controller.

Online Actuator Selection and Controller Design for Linear Quadratic Regulation With Unknown System Model

Online Actuator Selection and Controller Design for Linear Quadratic Regulation With Unknown System Model

Collision Avoidance and Path Point Tracking Control for Underactuated Unmanned Surface Vehicles With Unknown Model Nonlinearity

Collision Avoidance and Path Point Tracking Control for Underactuated Unmanned Surface Vehicles With Unknown Model Nonlinearity

Continual Learning From a Stream of APIs.

Continual learning (CL) aims to learn new tasks without forgetting previous tasks. However, existing CL methods require a large amount of raw data, which is often unavailable due to copyright considerations and privacy risks. Instead, stakeholders usually release pre-trained machine learning models as a service (MLaaS), which users can access via APIs. This paper considers two practical-yet-novel CL settings: data-efficient CL (DECL-APIs) and data-free CL (DFCL-APIs), which achieve CL from a stream of APIs with partial or no raw data. Performing CL under these two new settings faces several challenges: unavailable full raw data, unknown model parameters, heterogeneous models of arbitrary architecture and scale, and catastrophic forgetting of previous APIs. To overcome these issues, we propose a novel data-free cooperative continual distillation learning framework that distills knowledge from a stream of APIs into a CL model by generating pseudo data, just by querying APIs. Specifically, our framework includes two cooperative generators and one CL model, forming their training as an adversarial game. We first use the CL model and the current API as fixed discriminators to train generators via a derivative-free method. Generators adversarially generate hard and diverse synthetic data to maximize the response gap between the CL model and the API. Next, we train the CL model by minimizing the gap between the responses of the CL model and the black-box API on synthetic data, to transfer the API's knowledge to the CL model. Furthermore, we propose a new regularization term based on network similarity to prevent catastrophic forgetting of previous APIs. Our method performs comparably to classic CL with full raw data on the MNIST and SVHN datasets in the DFCL-APIs setting. In the DECL-APIs setting, our method achieves 0.97×, 0.75× and 0.69× performance of classic CL on the more challenging CIFAR10, CIFAR100, and MiniImageNet, respectively.

Initial stiffness estimation method for wooden house considering non‐structural elements using design information and microtremor measurement

AbstractIn this paper, a previously proposed method for story stiffness estimation of steel residential house is extended to estimate story stiffness of wooden residential houses considering non‐structural walls based on the available design information, that is, story weights, wall type, wall length, and wall opening type. Microtremor measurement data of several newly constructed buildings are used to determine unknown model parameters of stiffness estimation function, which minimize the estimation error of eigen frequency. The proposed method can simultaneously estimate the standard stiffness of wall element common to the same specification and the effects of wall opening and wall shape. The validity of the proposed method is examined by using measured actual microtremor records and drawing information of wall types and wall lengths of 19 wooden residential houses.

Analysis of Weibull progressively first-failure censored data with beta-binomial removals

<p>This study examined the estimations of Weibull distribution using progressively first-failure censored data, under the assumption that removals follow the beta-binomial distribution. Classical and Bayesian approaches for estimating unknown model parameters have been established. The estimations included scale and shape parameters, reliability and failure rate metrics as well as beta-binomial parameters. Estimations were considered from both point and interval viewpoints. The Bayes estimates were developed by using the squared error loss and generating samples for the posterior distribution through the Markov Chain Monte Carlo technique. Two interval estimation approaches are considered: approximate confidence intervals based on asymptotic normality of likelihood estimates and Bayes credible intervals. To investigate the performance of classical and Bayesian estimations, a simulation study was considered by various kinds of experimental settings. Furthermore, two examples related to real datasets were thoroughly investigated to verify the practical importance of the suggested methodologies.</p>