中国科学院沈阳自动化研究所机构知识库
Advanced  
SIA OpenIR  > 机器人学研究室  > 会议论文
题名: Incremental echo state network for a water-jet propulsion USV: Theoretical and experimental research
作者: Li DC(李德才); He YQ(何玉庆)
作者部门: 机器人学研究室
会议名称: 2016 American Control Conference, ACC 2016
会议日期: July 6-8, 2016
会议地点: Boston, MA, United states
会议主办者: Adaptics; et al.; GE Global Research; MathWorks; Mitsubishi Electric Research Laboratory (MERL); Quanser
会议录: Proceedings of the American Control Conference
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2016
页码: 5296-5301
收录类别: EI
ISSN号: 0743-1619
ISBN号: 978-1-4673-8682-1
摘要: In this paper, a new system identification method is proposed. Since the new method combines the advantage of Kalman filter, l1 norm regularization and echo state mechanisms, it termed as ESNKF-l1. The ESNKF-l1 inherits the basic idea of ESN learning with Kalman filter to update model parameters online and utilize l1 norm regularization to obtain a sparse model structure. Moreover, the training of the ESNKF-l1 is facilitated by employing a bound optimization algorithm, based on which, a proper surrogate function is defined and the l1 norm regularization is approximated by l2 norm, while remaining constrains to the model parameters. It lead to an efficient method for model parameters estimation, which can be solved by using pseudo-observation (PO) method. In this case, the l2 norm is incorporated into the filtering process by designing a fictitious measurement function and the model parameters can be updated in an iteration manner. Experimental results show that the proposed method is suitable to capture the dynamics of USV and is superior to existing methods.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/19364
Appears in Collections:机器人学研究室_会议论文

Files in This Item: Download All
File Name/ File Size Content Type Version Access License
Incremental echo state network for a water-jet propulsion USV.pdf(455KB)会议论文--开放获取View Download

Recommended Citation:
Li DC,He YQ. Incremental echo state network for a water-jet propulsion USV: Theoretical and experimental research[C]. 见:2016 American Control Conference, ACC 2016. Boston, MA, United states. July 6-8, 2016.
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[李德才]'s Articles
[何玉庆]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[李德才]‘s Articles
[何玉庆]‘s Articles
Related Copyright Policies
Null
Social Bookmarking
Add to CiteULike Add to Connotea Add to Del.icio.us Add to Digg Add to Reddit
文件名: Incremental echo state network for a water-jet propulsion USV.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 
评注功能仅针对注册用户开放,请您登录
您对该条目有什么异议,请填写以下表单,管理员会尽快联系您。
内 容:
Email:  *
单位:
验证码:   刷新
您在IR的使用过程中有什么好的想法或者建议可以反馈给我们。
标 题:
 *
内 容:
Email:  *
验证码:   刷新

Items in IR are protected by copyright, with all rights reserved, unless otherwise indicated.

 

 

Valid XHTML 1.0!
Copyright © 2007-2016  中国科学院沈阳自动化研究所 - Feedback
Powered by CSpace