CN111480126B - 用于控制系统的设备和方法及存储介质 - Google Patents

用于控制系统的设备和方法及存储介质 Download PDF

Info

Publication number
CN111480126B
CN111480126B CN201880080190.9A CN201880080190A CN111480126B CN 111480126 B CN111480126 B CN 111480126B CN 201880080190 A CN201880080190 A CN 201880080190A CN 111480126 B CN111480126 B CN 111480126B
Authority
CN
China
Prior art keywords
distribution
student
state
model
uncertainty
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201880080190.9A
Other languages
English (en)
Chinese (zh)
Other versions
CN111480126A (zh
Inventor
K·贝恩拓普
S·迪卡拉诺
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Publication of CN111480126A publication Critical patent/CN111480126A/zh
Application granted granted Critical
Publication of CN111480126B publication Critical patent/CN111480126B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/048—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators using a predictor
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N7/00—Computing arrangements based on specific mathematical models
    • G06N7/01—Probabilistic graphical models, e.g. probabilistic networks
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/18—Complex mathematical operations for evaluating statistical data, e.g. average values, frequency distributions, probability functions, regression analysis
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41146—Kalman filter
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N7/00—Computing arrangements based on specific mathematical models
    • G06N7/02—Computing arrangements based on specific mathematical models using fuzzy logic
    • G06N7/023—Learning or tuning the parameters of a fuzzy system
    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03H—IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS; RESONATORS
    • H03H17/00—Networks using digital techniques
    • H03H17/02—Frequency selective networks
    • H03H17/0248—Filters characterised by a particular frequency response or filtering method
    • H03H17/0255—Filters based on statistics
    • H03H17/0257—KALMAN filters

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Data Mining & Analysis (AREA)
  • Theoretical Computer Science (AREA)
  • Software Systems (AREA)
  • Pure & Applied Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Computational Mathematics (AREA)
  • Mathematical Analysis (AREA)
  • Mathematical Optimization (AREA)
  • Evolutionary Computation (AREA)
  • Artificial Intelligence (AREA)
  • Probability & Statistics with Applications (AREA)
  • General Engineering & Computer Science (AREA)
  • Algebra (AREA)
  • Automation & Control Theory (AREA)
  • Health & Medical Sciences (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Medical Informatics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Evolutionary Biology (AREA)
  • Operations Research (AREA)
  • Databases & Information Systems (AREA)
  • Computing Systems (AREA)
  • Feedback Control In General (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
CN201880080190.9A 2017-12-18 2018-05-23 用于控制系统的设备和方法及存储介质 Active CN111480126B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US15/845,134 2017-12-18
US15/845,134 US11501193B2 (en) 2017-12-18 2017-12-18 Model-based control under uncertainty
PCT/JP2018/020626 WO2019123682A1 (en) 2017-12-18 2018-05-23 Apparatus and method for controlling system

Publications (2)

Publication Number Publication Date
CN111480126A CN111480126A (zh) 2020-07-31
CN111480126B true CN111480126B (zh) 2022-05-31

Family

ID=62904540

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201880080190.9A Active CN111480126B (zh) 2017-12-18 2018-05-23 用于控制系统的设备和方法及存储介质

Country Status (5)

Country Link
US (1) US11501193B2 (enExample)
EP (1) EP3526646B1 (enExample)
JP (1) JP7019037B2 (enExample)
CN (1) CN111480126B (enExample)
WO (1) WO2019123682A1 (enExample)

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017110548A1 (de) * 2017-05-15 2018-11-15 Trw Automotive Gmbh Verfahren zum Detektieren von sich am Lenkrad befindlichen Händen
US11383727B2 (en) * 2018-03-19 2022-07-12 Qualcomm Incorporated Vehicle operation based on vehicular measurement data processing
US12165345B2 (en) * 2019-03-21 2024-12-10 Five AI Limited Perception uncertainty
EP3796108B1 (de) * 2019-09-20 2024-05-08 Robert Bosch GmbH Vorrichtung und verfahren zum ermitteln eines robusten optimums eines physikalischen oder chemischen prozesses gemäss einem bayes optimierungsverfahren
TW202125343A (zh) * 2019-12-30 2021-07-01 瑞昱半導體股份有限公司 時間序列預測方法及相關的時間序列預測電路
CN111262556B (zh) * 2020-01-16 2023-09-08 自然资源部第二海洋研究所 一种同时估计未知高斯测量噪声统计量的多目标跟踪方法
US11753023B2 (en) * 2020-01-19 2023-09-12 Mitsubishi Electric Research Laboratories, Inc. Adaptive control of autonomous or semi-autonomous vehicle
CN111251301B (zh) * 2020-02-27 2022-09-16 云南电网有限责任公司电力科学研究院 输电线路检修机器人操作臂的运动规划方法
US11327449B2 (en) * 2020-05-29 2022-05-10 Mitsubishi Electric Research Laboratories, Inc. Nonlinear optimization for stochastic predictive vehicle control
CN111780785A (zh) * 2020-07-20 2020-10-16 武汉中海庭数据技术有限公司 车载memsimu零偏自标定方法及系统
DE102020212283A1 (de) * 2020-09-29 2022-03-31 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren und Vorrichtung zur Ermittlung und Fusionierung einer Alterungszustandstrajektorie eines elektrischen Energiespeichers basierend auf statistischen, modellgestützten und maschinellen Lernverfahren
CN112990256A (zh) * 2020-12-29 2021-06-18 北京电子工程总体研究所 多传感器噪声计算方法及信息融合方法、存储介质及设备
US11679759B2 (en) * 2021-01-27 2023-06-20 Mitsubishi Electric Research Laboratories, Inc. System and method for adaptive control of vehicle dynamics
US11932262B2 (en) * 2021-07-01 2024-03-19 Mitsubishi Electric Research Laboratories, Inc. Stochastic nonlinear predictive controller and method based on uncertainty propagation by Gaussian-assumed density filters
CN113591020B (zh) * 2021-07-23 2024-03-01 江南大学 一种基于轴对称盒空间滤波的非线性系统状态估计方法
US12049007B2 (en) * 2022-03-01 2024-07-30 Mitsubishi Electric Research Laboratories, Inc. System and method for robust robotic manipulation using chance constrained optimization
US12078972B2 (en) 2022-03-12 2024-09-03 Mitsubishi Electric Research Laboratories, Inc. Model-based control with uncertain motion model
CN115130340B (zh) * 2022-06-14 2025-03-07 广东粤海水务投资有限公司 基于分数布朗运动的管道建模方法及装置
US12306316B2 (en) * 2022-06-30 2025-05-20 Mitsubishi Electric Research Laboratories, Inc. System and method for controlling a device using a compound probabilistic filter
WO2025027857A1 (ja) * 2023-08-03 2025-02-06 日本電信電話株式会社 受信装置及び信号検出方法
WO2025163857A1 (ja) * 2024-02-01 2025-08-07 日本電気株式会社 情報処理装置、情報処理方法、プログラム

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106355003A (zh) * 2016-08-26 2017-01-25 中国地质大学（武汉） 基于t分布的马尔科夫链蒙特卡洛自动历史拟合方法及系统
CN106683122A (zh) * 2016-12-16 2017-05-17 华南理工大学 一种基于高斯混合模型和变分贝叶斯的粒子滤波方法

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6738682B1 (en) 2001-09-13 2004-05-18 Advances Micro Devices, Inc. Method and apparatus for scheduling based on state estimation uncertainties
US7209938B2 (en) 2001-12-17 2007-04-24 Lockheed Martin Corporation Kalman filter with adaptive measurement variance estimator
US20050114023A1 (en) * 2003-11-26 2005-05-26 Williamson Walton R. Fault-tolerant system, apparatus and method
US7180443B1 (en) 2005-03-16 2007-02-20 Lockheed Martin Corporation Reduced state estimator for systems with physically bounded parameters
US20080159074A1 (en) * 2006-12-27 2008-07-03 Magnitude Spas System and method for quality control of noisy data
EP2273327A1 (en) 2009-06-24 2011-01-12 ABB Research Ltd. Estimating initial states of a system model for controlling an industrial process
US8583470B1 (en) * 2010-11-02 2013-11-12 Mindjet Llc Participant utility extraction for prediction market based on region of difference between probability functions
CN103020348B (zh) 2012-12-07 2015-06-03 上海电机学院 利用多个传感器对动态系统进行跟踪的方法及装置
US10026015B2 (en) 2014-04-01 2018-07-17 Case Western Reserve University Imaging control to facilitate tracking objects and/or perform real-time intervention
US10281897B2 (en) * 2015-06-02 2019-05-07 Mitsubishi Electric Research Laboratories, Inc. Model predictive control with uncertainties
WO2018013247A2 (en) * 2016-06-02 2018-01-18 Brown University Physics informed learning machine
US10011284B2 (en) * 2016-07-13 2018-07-03 Mitsubishi Electric Research Laboratories, Inc. System and method for determining state of stiffness of tires of vehicle

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106355003A (zh) * 2016-08-26 2017-01-25 中国地质大学（武汉） 基于t分布的马尔科夫链蒙特卡洛自动历史拟合方法及系统
CN106683122A (zh) * 2016-12-16 2017-05-17 华南理工大学 一种基于高斯混合模型和变分贝叶斯的粒子滤波方法

Also Published As

Publication number Publication date
EP3526646A1 (en) 2019-08-21
CN111480126A (zh) 2020-07-31
WO2019123682A1 (en) 2019-06-27
US20190188592A1 (en) 2019-06-20
JP7019037B2 (ja) 2022-02-14
JP2020535562A (ja) 2020-12-03
EP3526646B1 (en) 2021-07-21
US11501193B2 (en) 2022-11-15

Similar Documents

Publication Publication Date Title
CN111480126B (zh) 用于控制系统的设备和方法及存储介质
CN111527382B (zh) 用于控制车辆的系统及方法
US11698625B2 (en) Stochastic model-predictive control of uncertain system
US11254315B2 (en) Friction adaptive vehicle control
JP6576578B2 (ja) 車両を制御する方法、システム、及び非一時的コンピューター可読メモリ
US11474486B2 (en) Model-based control with uncertain motion model
US11597364B2 (en) System and method for determining friction curve of tire
CN110132271B (zh) 一种自适应卡尔曼滤波姿态估计算法
US20230333518A1 (en) Adjustment system, adjustment method, and adjustment program
US11679759B2 (en) System and method for adaptive control of vehicle dynamics
KR101390776B1 (ko) 퍼지 확장 칼만 필터를 이용한 위치인식 장치, 방법 및 이동로봇
KR20220107471A (ko) 포즈 예측 방법, 포즈 예측 장치 및 포즈 예측에 기반한 증강 현실 안경
KR101462007B1 (ko) 자세 추정 장치 및 자세 추정 방법
JP7278502B2 (ja) タイヤの摩擦曲線を判定するためのシステムおよび方法
CN118363293A (zh) 控制设备和控制方法
US20240160408A1 (en) Filtering noisy observations
Grebe A Study of Observability-Aware Trajectory Optimization
Wang et al. Variational Bayesian Iteration-Based Invariant Kalman Filter for Attitude Estimation on Matrix Lie Groups. Aerospace 2021, 8, 246
CN114370867A (zh) 一种高动态星敏感器的姿态优化方法
Shamsudin et al. Recursive Gauss-Newton based training algorithm for neural network modelling of an unmanned helicopter dynamics
Pannek et al. Performance bounds for NMPC combined with Sensitivity Updates

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant