This paper proposes a novel integrated controller with three-layer hierarchical structure to coordinate the interactions among active suspension system (ASS), active front steering (AFS) and direct yaw moment control (DYC). First of all, a 14-degree-of-freedom nonlinear vehicle dynamic model is constructed. Then, an upper layer is designed to calculate the total corrected moment for ASS and intermediate layer based on linear moment distribution. By considering the working regions of the AFS and DYC, the intermediate layer is functionalised to determine the trigger signal for the lower layer with corresponding weights. The lower layer is utilised to separately trace the desired value of each local controller and achieve the local control objectives of each subsystem. Simulation results show that the proposed three-layer hierarchical structure is effective in handling the working region of the AFS and DYC, while the quasi-experimental result shows that the proposed integrated controller is able to improve the lateral and vertical dynamics of the vehicle effectively as compared with a conventional electronic stability controller.

Extreme learning machine (ELM) has become a popular topic in machine learning in recent years. ELM is a new kind of single-hidden layer feedforward neural network with an extremely low computational cost. ELM, however, has two evident drawbacks: 1) the output weights solved by Moore-Penrose generalized inverse is a least squares minimization issue, which easily suffers from overfitting and 2) the accuracy of ELM is drastically sensitive to the number of hidden neurons so that a large model is usually generated. This brief presents a sparse Bayesian approach for learning the output weights of ELM in classification. The new model, called Sparse Bayesian ELM (SBELM), can resolve these two drawbacks by estimating the marginal likelihood of network outputs and automatically pruning most of the redundant hidden neurons during learning phase, which results in an accurate and compact model. The proposed SBELM is evaluated on wide types of benchmark classification problems, which verifies that the accuracy of SBELM model is relatively insensitive to the number of hidden neurons; and hence a much more compact model is always produced as compared with other state-of-the-art neural network classifiers.

Recently, multilayer extreme learning machine (ML-ELM) was applied to stacked autoencoder (SAE) for representation learning. In contrast to traditional SAE, the training time of ML-ELM is significantly reduced from hours to seconds with high accuracy. However, ML-ELM suffers from several drawbacks: 1) manual tuning on the number of hidden nodes in every layer is an uncertain factor to training time and generalization; 2) random projection of input weights and bias in every layer of ML-ELM leads to suboptimal model generalization; 3) the pseudoinverse solution for output weights in every layer incurs relatively large reconstruction error; and 4) the storage and execution time for transformation matrices in representation learning are proportional to the number of hidden layers. Inspired by kernel learning, a kernel version of ML-ELM is developed, namely, multilayer kernel ELM (ML-KELM), whose contributions are: 1) elimination of manual tuning on the number of hidden nodes in every layer; 2) no random projection mechanism so as to obtain optimal model generalization; 3) exact inverse solution for output weights is guaranteed under invertible kernel matrix, resulting to smaller reconstruction error; and 4) all transformation matrices are unified into two matrices only, so that storage can be reduced and may shorten model execution time. Benchmark data sets of different sizes have been employed for the evaluation of ML-KELM. Experimental results have verified the contributions of the proposed ML-KELM. The improvement in accuracy over benchmark data sets is up to 7%.

Hysteresis nonlinearity degrades the positioning accuracy of a piezostage and requires a suppression for precision micro-/nanopositioning applications. This paper proposes two new approaches to modeling and compensating the rate-dependent hysteresis of a piezostage driven by piezoelectric stack actuators. By formulating the hysteresis modeling as an online nonlinear regression problem, online least squares support vector machine (SVM) (LS-SVM) and online relevance vector machine (RVM) models are proposed to capture the hysteretic behavior. Both hysteresis models are capable of updating continually with subsequent samples. After a comparative study on modeling performances, an inverse model-based feedforward combined with proportional-integral-derivative feedback control is presented to alleviate the hysteresis effect. Experimental results show that the LS-SVM model-based control scheme is over 86% more accurate than the RVM model-based one in the motion tracking task, whereas the latter is 14 times faster than the former in terms of updating time. Moreover, both LS-SVM and RVM model-based control schemes can suppress the rate-dependent hysteresis to a negligible level, which validates the feasibility and effectiveness of the proposed approaches.