In this paper, a novel robust adaptive dynamic programming (RADP)-based control strategy is presented for the optimal control of a class of output-constrained continuous-time unknown nonlinear systems. Our contribution includes a step forward beyond the usual optimal control result to show that the output of the plant is always within user-defined bounds. To achieve the new results, an error transformation technique is first established to generate an equivalent nonlinear system, whose asymptotic stability guarantees both the asymptotic stability and the satisfaction of the output restriction of the original system. Furthermore, RADP algorithms are developed to solve the transformed nonlinear optimal control problem with completely unknown dynamics as well as a robust design to guarantee the stability of the closed-loop systems in the presence of unavailable internal dynamic state. Via small-gain theorem, asymptotic stability of the original and transformed nonlinear system is theoretically guaranteed. Finally, comparison results demonstrate the merits of the proposed control policy.

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Several technologies can be used in ultrasonic gas flow-meters, such as transit-time, Doppler, cross-correlation and etc. In applications, the approach based on measuring transit-time has demonstrated its advantages and become more popular. Among those techniques which can be applied to determine time-of-flight (TOF) of ultrasonic waves, including threshold detection, cross correlation algorithm and other digital signal processing algorithms, cross correlation algorithm has more advantages when the received ultrasonic signal is severely disturbed by the noise. However, the reference wave for cross correlation computation has great influence on the precise measurement of TOF. In the applications of the multipath flow-meters, selection of the reference wave becomes even more complicated. Based on the analysis of the impact factors that will introduce noise and waveform distortion of ultrasonic waves, an averaging method is proposed to determine the reference wave in this paper. In the multipath ultrasonic gas flow-meter, the analysis of each path of ultrasound needs its own reference wave. In case study, a six-path ultrasonic gas flow-meter has been designed and tested with air flow through the pipeline. The results demonstrate that the flow rate accuracy and the repeatability of the TOF are significantly improved by using averaging reference wave, compared with that using random reference wave.

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Most of the existing mobile robot localization solutions are either heavily dependent on pre-installed infrastructures or having difficulty working in highly repetitive environments which do not have sufficient unique features. To address this problem, we propose a magnetic-assisted initialization approach that enhances the performance of infrastructure-free mobile robot localization in repetitive featureless environments. The proposed system adopts a coarse-to-fine structure, which mainly consists of two parts: magnetic field-based matching and laser scan matching. Firstly, the interpolated magnetic field map is built and the initial pose of the mobile robot is partly determined by the k-Nearest Neighbors (k-NN) algorithm. Next, with the fusion of prior initial pose information, the robot is localized by laser scan matching more accurately and efficiently. In our experiment, the mobile robot was successfully localized in a featureless rectangular corridor with a success rate of 88% and an average correct localization time of 6.6 seconds.