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This paper presents a synthetic algorithm for tracking a moving object in a multiple-dynamic obstacles environment based on kinematically planar manipulators. By observing the motions of the object and obstacles, Spline filter associated with polynomial fitting is utilized to predict their moving paths for a period of time in the future. Several feasible paths for the manipulator in Cartesian space can be planned according to the predicted moving paths and the defined feasibility criterion. The shortest one among these feasible paths is selected as the optimized path. Then the real-time path along the optimized path is planned for the manipulator to track the moving object in real-time. To improve the convergence rate of tracking, a virtual controller based on PD controller is designed to adaptively adjust the real-time path. In the process of tracking, the null space of inverse kinematic and the local rotation coordinate method (LRCM) are utilized for the arms and the end-effector to avoid obstacles, respectively. Finally, the moving object in a multiple-dynamic obstacles environment is thus tracked via real-time updating the joint angles of manipulator according to the iterative method. Simulation results show that the proposed algorithm is feasible to track a moving object in a multiple-dynamic obstacles environment. [ABSTRACT FROM AUTHOR]

Constituting reliable optimal solution is a key issue for the nonlinear constrained model predictive control. Input-output feedback linearization is a popular method in nonlinear control. By using an input-output feedback linearizing controller, the original linear input constraints will change to nonlinear constraints and sometimes the constraints are state dependent. This paper presents an iterative quadratic program(IQP) routine on the continuous-time system. To guarantee its convergence, another iterative approach is incorporated. The proposed algorithmcan reach a feasible solution over the entire prediction horizon. Simulation results on both a numerical example and the continuous stirred tank reactors (CSTR) demonstrate the effectiveness of the proposed method. [ABSTRACT FROM AUTHOR]

The convergence of model-free adaptive control (MFAC) algorithm can be guaranteed when the system is subject to measurement data dropout. The system output convergent speed gets slower as dropout rate increases. This paper proposes a MFAC algorithm with data compensation. The missing data is first estimated using the dynamical linearization method, and then the estimated value is introduced to update control input. The convergence analysis of the proposed MFAC algorithm is given, and the effectiveness is also validated by simulations. It is shown that the proposed algorithm can compensate the effect of the data dropout, and the better output performance can be obtained. [ABSTRACT FROM AUTHOR]

For premature convergence and instability of cultural algorithm in solving function optimization problem, based on cultural algorithm and chaos search optimization, a chaos cultural algorithm (CCA) is proposed. The algorithm model consists of a chaos-based population space and a knowledge-storing belief space, uses normative knowledge and situational knowledge for chaos search and chaos perturbation, respectively, effectively avoids premature convergence of cultural algorithm, and overcomes chaos search optimization's sensitivity to initial values and poor efficiency. Test results show that this algorithm is strong in global search and has good performance in searching efficiency, precision, and stability, especially in solving high-dimensional optimization problem. [ABSTRACT FROM AUTHOR]

We propose two variable weighted iterative reconstruction algorithms (VW-ART and VW-OS-SART) to improve the algebraic reconstruction technique (ART) and simultaneous algebraic reconstruction technique (SART) and establish their convergence. In the two algorithms, the weighting varies with the geometrical direction of the ray. Experimental results with both numerical simulation and real CT data demonstrate that the VW-ART has a significant improvement in the quality of reconstructed images over ART and OS-SART. Moreover, both VW-ART and VW-OS-SART are more promising in convergence speed than the ART and SART, respectively. [ABSTRACT FROM AUTHOR]