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In this paper, we re-visit the adaptive observer design of a class of uncertain nonlinear systems, where the nonlinearities before the unknown parameters are functions of unmeasured states. A nonlinear reduced-observer is developed by using Lyapunov techniques to estimate unmeasured states. The proposed observer design removes the global Lipschitz restriction. It is shown that the developed adaptive...
The Support Vector Machine method has a good learning and generalization ability. Unfortunately, there are no comprehensive theories to guide the parameter selection of the SVM, which largely limits its application. In order to get the optimal parameters automatically, researchers have tried a variety of methods. Using genetic algorithms to optimize parameters of an SVM Classifier has become one of...
In this paper, we consider the agreement problem of a group of agents with nonlinear stochastic dynamics and each agent applies a local (distributed) nonlinear consensus protocol over random networks. We relate the almost sure consensus of agents under nonlinear consensus protocols to the stochastic semistability of nonlinear stochastic systems. We have proposed the notion of almost sure semistability...
In this paper, we study the discrete-time nonlinear consensus protocols over both directed and undirected networks with fixed topology. First, the notions of (global/exponential) semistability are introduced for systems with a continuum of equilibria. In terms of (global/exponential) consensus defined based on the notion of semistability, we have derived convergence conditions for the general discrete-time...
In this paper we proposed a novel algorithm ant-based robot path planning (ARPP) based on ant colony system (ACS) to mimic a swarm of ants to find the globally optimal path for autonomous mobile robots. Visibility graph was used as both the roadmap and construction graph in ARPP. Although the near-optimums were readily available by ARPP, it is hard to find the optimality; therefore we proposed the...
Characterizing convergence speed is one of the important research challenges in the design of distributed consensus algorithms for networked multi-agent systems. In this paper, we consider a group of agents that communicate via a dynamically switching directed random network. Each link in the network, which represents the directed information flow between any ordered pair of agents, could be subject...
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