In this paper, we discuss the motion control of underactuated ocean vehicles by using trajectory planning and trajectory tracking control. Important factors which greatly affect the control performance are their model errors, disturbances, obstacles, and actuator constraints. To solve these problems, we attempt to apply the B-spline interpolation method for trajectory planning and model predictive control for trajectory tracking control. We propose a new online control algorithm for the underactuated ocean vehicles and evaluate the performance of the proposed algorithm by numerical case studies.
A joint method is proposed for estimating the systems state and identifying the unknown exogenous input to the stochastic dynamical systems by introducing an idea of pseudomeasurement. Both state estimation and parameter identification are processed by the Kalman filter, incorporating the pseudomeasurements. As unknown exogenous input, two kind of inputs-stepwise and impulse inputs-are investigated, and several simulation studies are presented in order to show the efficacy of introducing the pseudomeasurements.
Recently, the number of trader by internet securities companies has increased rapidly. There have been reported lots of studies on forecast of stock prices based on the closing price. However, there are few researches which utilize real time information such as bid and ask price. In this paper, the authors proposed a novel method of evolving day-trade strategies by means of the genetic programming which utilized only order book information. The performance of the proposed method is shown by means of Day Trade Agent Framework (DTAF).
This paper makes two contributions toward applying the control-oriented optimal dynamic quantizers, which have been recently proposed by the authors, to various industrial systems. First, a MATLAB toolbox, which offers several algorithms for analyzing/designing the dynamic quantizers, is presented. Next, to demonstrate the effectiveness of the optimal dynamic quantizers and the design tool, an experimental evaluation is performed by using an inverted pendulum system.