Through the direct parameter approach, a solution for spacecraft attitude tracking is presented. First of all, the spacecraft attitude tracking control model is built up by the error equation of the second-order nonli...Through the direct parameter approach, a solution for spacecraft attitude tracking is presented. First of all, the spacecraft attitude tracking control model is built up by the error equation of the second-order nonlinear quaternion-based attitude system. Based on the control model, a suitable controller is designed by the direct parameter approach. Compared with other control strategies, the direct parameter approach can offer all degrees of freedom for the controller to satisfy the requirements for system properties and turn the original nonlinear system into closed-loop linear system. Furthermore, this paper optimizes the controller according to the robustness, limitation of controller output and closed-loop eigenvalue sensitivity. Putting the controller into the original system, the state response of the closed-loop system and the output of controller are plotted in Matlab to verify the availability and robustness of the controller. Therefore, the controlled spacecraft can achieve the goal of tracking on the mobile target with the external disturbance torque.展开更多
A simple parametric approach to design a full-order observer for matrix second-order linear systems with uncertain disturbance input in the matrixsecond-order framework is proposed. The basic idea is to minimize the H...A simple parametric approach to design a full-order observer for matrix second-order linear systems with uncertain disturbance input in the matrixsecond-order framework is proposed. The basic idea is to minimize the H2 norm of the transfer function from disturbance to estimation error using the design degrees of freedom provided by a parametric approach in the observer design. Besides the design parameters, the eigenvalues of the closed-loop system are also optimized within desired regions on the left-half of the complex plane. Using the proposed approach, additional specifications can be easily achieved. A spring-mass system is using to show the effect of the proposed approaches.展开更多
A robust task space tracking scheme is proposed for the free-flying space manipulator system. The dynamic equations of the system are derived via the law of momentum conservation, and then a linear state space represe...A robust task space tracking scheme is proposed for the free-flying space manipulator system. The dynamic equations of the system are derived via the law of momentum conservation, and then a linear state space representation is formulated by local linearization. A parametric approach is applied by using the eigenstructure assignment theory and the model reference method. A feedback stabilizing controller and a feedforward compensation controller are built based on the approach. Then an optimization procedure is followed after that to obtain the desired requirement and characteristics. Simulation results are presented to show the effectiveness of the proposed method.展开更多
To realize the stabilization and the tracking of flight control for an air-breathing hypersonic cruise vehicle, the linearization of the longitudinal model under trimmed cruise condition is processed firstly. Furtherm...To realize the stabilization and the tracking of flight control for an air-breathing hypersonic cruise vehicle, the linearization of the longitudinal model under trimmed cruise condition is processed firstly. Furthermore, the flight control problem is formulated as a robust model tracking control problem. And then, based on the robust parametric approach, eigenstructure assignment and reference model tracking theory, a parametric optimization method for robust controller design is presented. The simulation results show the effectiveness of the proposed approach.展开更多
The nonlinear Kortewege-de Varies(KdV)equation is a functional description for modelling ion-acoustic waves in plasma,long internal waves in a density-stratified ocean,shallow-water waves and acoustic waves on a cryst...The nonlinear Kortewege-de Varies(KdV)equation is a functional description for modelling ion-acoustic waves in plasma,long internal waves in a density-stratified ocean,shallow-water waves and acoustic waves on a crystal lattice.This paper focuses on developing and analysing a resilient double parametric analytical approach for the nonlinear fuzzy fractional KdV equation(FFKdVE)under gH-differentiability of Caputo fractional order,namely the q-Homotopy analysis method with the Shehu transform(q-HASTM).A triangular fuzzy number describes the Caputo fractional derivative of orderα,0<α≤1,for modelling problem.The fuzzy velocity profiles with crisp and fuzzy conditions at different spatial positions are in-vestigated using a robust double parametric form-based q-HASTM with its convergence analysis.The ob-tained results are compared with existing works in the literature to confirm the efficacy and effectiveness of the method.展开更多
The preservation/restoration of natural environment is frequently entailing excessive cost （paid by people through taxation） while it is a source of additional income for both, the State and the people, due to touri...The preservation/restoration of natural environment is frequently entailing excessive cost （paid by people through taxation） while it is a source of additional income for both, the State and the people, due to tourism. Since the evaluation of this good cannot be in market terms, it is applied here in a modified version of the CVM （Contingent Valuation Method）, which is used in experimental economics in order to investigate the significance that people put on this good and how much they might be WTP （Willing to Pay） for supporting activities concerning the preservation/restoration of Lake Kastoria. The WTP dependence on （i） external diseconomies; （ii） the expectations for property values＇ rise as a result of the restoration; （iii） the proximity of interviewees＇ residence to the lake; （iv） the opinion of the interviewee on the time and money spent to visit the lake; （v） the time and money the interviewees spent to visit the lake, as well as other dependencies （all taken as independent variables） are estimated by means oflogit, probit, logistic and linear regression models. The optimal concentration Copt of a pollutant in the environment can be determined as an equilibrium point in the tradeoff between （i） environmental cost, due to impact on man/ecosystem/economy; and （ii） economic cost for environmental protection, as it can be expressed by Pigouvian tax. These two conflict variables are internalized within the same techno-economic objective function of total cost, which is minimized. In this work, the first conflict variable is represented by a WTP index. A methodology is developed for the estimation of this index by using fuzzy sets to count for uncertainty. Implementation of this methodology is presented, concerning odor pollution of air round an olive pomace oil mill.展开更多
When the population, from which the samples are extracted, is not normally distributed, or if the sample size is particularly reduced, become preferable the use of not parametric statistic test. An alternative to the ...When the population, from which the samples are extracted, is not normally distributed, or if the sample size is particularly reduced, become preferable the use of not parametric statistic test. An alternative to the normal model is the permutation or randomization model. The permutation model is nonparametric because no formal assumptions are made about the population parameters of the reference distribution, i.e., the distribution to which an obtained result is compared to determine its probability when the null hypothesis is true. Typically the reference distribution is a sampling distribution for parametric tests and a permutation distribution for many nonparametric tests. Within the regression models, it is possible to use the permutation tests, considering their ownerships of optimality, especially in the multivariate context and the normal distribution of the response variables is not guaranteed. In the literature there are numerous permutation tests applicable to the estimation of the regression models. The purpose of this study is to examine different kinds of permutation tests applied to linear models, focused our attention on the specific test statistic on which they are based. In this paper we focused our attention on permutation test of the independent variables, proposed by Oja, and other methods to effect the inference in non parametric way, in a regression model. Moreover, we show the recent advances in this context and try to compare them.展开更多
A parametric approach to robust fault detection in linear systems with unknown disturbances is presented.The residual is generated using full-order state observers(FSO).Based on an analytical solution to a type of Syl...A parametric approach to robust fault detection in linear systems with unknown disturbances is presented.The residual is generated using full-order state observers(FSO).Based on an analytical solution to a type of Sylvester matrix equations,the parameterization of the observer gain matrix is given.In terms of the design degrees of freedom provided by the parametric observer design and a group of introduced parameter vectors,a sufficient and necessary condition for fullorder state observer design with disturbance decoupling is then established.By properly constraining the design parameters according to this proposed condition,the effect of the disturbance on the residual signal is also decoupled,and a simple algorithm is developed.The presented approach offers all the degrees of design freedom.Finally,a numerical example illustrates the effect of the proposed approach.展开更多
This paper focuses on investigating the tendency of farmers in the greater area of Peloponnese as well as those on the greater area of Thessaly to participate in a program of environmental agricultural waste managemen...This paper focuses on investigating the tendency of farmers in the greater area of Peloponnese as well as those on the greater area of Thessaly to participate in a program of environmental agricultural waste management.The aim of the present study is to investigate the level of amount WTA(Willingness to Accept)against which the farmers would be willing to allow anyone to gather and carry away the leftovers of their farming exploitation.To serve the above goals,the agricultural leftovers are evaluated by the CVM(Contingent Valuation Method)as an environmental non-market economic commodity.The specimen response on utilization of the rejected biomass was satisfactory,since a good percentage of the interviewees are willing to contribute to this procedure for a minimal of remuneration,although investigations of this type are novel for Greek reality.From this investigation,it is perceived by the society the importance of alternative utilization of the rejected biomass.It is concluded that the minimum amount each interviewee is willing to accept as minimal remuneration and is affected by the way these biomass leftovers are managed,the age of the interviewees and the area in which they live.Those interviewees who use such biomass leftovers in alternative applications wish to be remunerated higher compared to those who relinquish such leftovers.The ordinal logistic model is listed in a broader category of generalized linear models for arrangement data.展开更多
Design of experiment （DOE） was applied to determining the most important factors which influence ultimate tensile strength （UTS） of AA6061/SiC nanocomposites produced by friction stir processing （FSP）. Effect of...Design of experiment （DOE） was applied to determining the most important factors which influence ultimate tensile strength （UTS） of AA6061/SiC nanocomposites produced by friction stir processing （FSP）. Effect of four factors, including rotational speed, transverse speed, tool penetration depth and pin profile, on UTS, was investigated. By Taguchi method, the optimum of process parameters were determined. Analysis of variance shows that the rotational speed is the most influential parameter. The statistical results depict that UTS for threaded pin is larger than that for square pin. Also, the higher the rotational speed and the lower the transverse speed, the higher the UTS.展开更多
This paper considers parametric control of high-order descriptor linear systems via proportional plus derivative feedback. By employing general parametric solutions to a type of so-called high-order Sylvester matrix e...This paper considers parametric control of high-order descriptor linear systems via proportional plus derivative feedback. By employing general parametric solutions to a type of so-called high-order Sylvester matrix equations, complete parametric control approaches for high-order linear systems are presented. The proposed approaches give simple complete parametric expressions for the feedback gains and the closed-loop eigenvector matrices, and produce all the design degrees of freedom. Fur-thermore, important special cases are particularly treated. Based on the proposed parametric design approaches, a parametric method for the gain-scheduling controller design of a linear time-varying system is proposed and the design of a BTT missile autopilot is carried out. The simulation results show that the method is superior to the traditional one in sense of either global stability or system performance.展开更多
In this paper,a fully actuated system approach(FASA)-based control scheme is proposed for the trajectory tracking of a quadrotor unmanned aerial vehicle(UAV).System uncertainty,external disturbance and actuator constr...In this paper,a fully actuated system approach(FASA)-based control scheme is proposed for the trajectory tracking of a quadrotor unmanned aerial vehicle(UAV).System uncertainty,external disturbance and actuator constraint are all considered,which make the problem challenging.Inspired by the active disturbance rejection control(ADRC),tracking di®erentiator(TD)and extended state observer(ESO)are introduced for handling the uncertainties and generating the feedback signals.With the proposed feedback control law,the performance of the resulted closed loop system is related to its eigenstructure-eigenvalue and eigenvectors.Based on a type of control parametrization method,the parametrized eigenstructure of the closed loop system are optimized.A better performance is observed by comparative numerical simulation.展开更多
The multi-degree of freedom(muti-DOF)manipulator system is a complex control system with the strong coupling feature and high nonlinearity.In this paper,trajectory tracking control of a six-degree of freedom(6-DOF)man...The multi-degree of freedom(muti-DOF)manipulator system is a complex control system with the strong coupling feature and high nonlinearity.In this paper,trajectory tracking control of a six-degree of freedom(6-DOF)manipulator based on fully-actuated system models and a direct parametric method is investigated.The fully-actuated system model of the 6-DOF manipulator is established by using the Denavit Hartenberg(DH)notation and Euler-Lagrange dynamics.A disturbance observer is constructed to solve the nonlinear uncertainties such as unmodeled dynamics and external disturbances.Then,a controller is designed using the direct parametric method to make the 6-DOF manipulator reach the desired position with high accuracy.After that,a switching control strategy is developed to suppress the peak value belonging to the controller.Simulation results reveal the effect of the proposed control approach.展开更多
基金supported by National Natural Science Foundation of China(No.61321062)
文摘Through the direct parameter approach, a solution for spacecraft attitude tracking is presented. First of all, the spacecraft attitude tracking control model is built up by the error equation of the second-order nonlinear quaternion-based attitude system. Based on the control model, a suitable controller is designed by the direct parameter approach. Compared with other control strategies, the direct parameter approach can offer all degrees of freedom for the controller to satisfy the requirements for system properties and turn the original nonlinear system into closed-loop linear system. Furthermore, this paper optimizes the controller according to the robustness, limitation of controller output and closed-loop eigenvalue sensitivity. Putting the controller into the original system, the state response of the closed-loop system and the output of controller are plotted in Matlab to verify the availability and robustness of the controller. Therefore, the controlled spacecraft can achieve the goal of tracking on the mobile target with the external disturbance torque.
基金This project was supported by the Chinese National Natural Science Foundation under Grant (10372015).
文摘A simple parametric approach to design a full-order observer for matrix second-order linear systems with uncertain disturbance input in the matrixsecond-order framework is proposed. The basic idea is to minimize the H2 norm of the transfer function from disturbance to estimation error using the design degrees of freedom provided by a parametric approach in the observer design. Besides the design parameters, the eigenvalues of the closed-loop system are also optimized within desired regions on the left-half of the complex plane. Using the proposed approach, additional specifications can be easily achieved. A spring-mass system is using to show the effect of the proposed approaches.
基金supported by the National Natural Science Foundation of China (61074111)the Innovative Team Program of the National Natural Science Foundation of China (61021002)
文摘A robust task space tracking scheme is proposed for the free-flying space manipulator system. The dynamic equations of the system are derived via the law of momentum conservation, and then a linear state space representation is formulated by local linearization. A parametric approach is applied by using the eigenstructure assignment theory and the model reference method. A feedback stabilizing controller and a feedforward compensation controller are built based on the approach. Then an optimization procedure is followed after that to obtain the desired requirement and characteristics. Simulation results are presented to show the effectiveness of the proposed method.
基金Sponsored by the Major Program of National Natural Science Foundation of China (Grant No.60710002)the Program for Changjiang Scholars and Innovative Research Team in University
文摘To realize the stabilization and the tracking of flight control for an air-breathing hypersonic cruise vehicle, the linearization of the longitudinal model under trimmed cruise condition is processed firstly. Furthermore, the flight control problem is formulated as a robust model tracking control problem. And then, based on the robust parametric approach, eigenstructure assignment and reference model tracking theory, a parametric optimization method for robust controller design is presented. The simulation results show the effectiveness of the proposed approach.
文摘The nonlinear Kortewege-de Varies(KdV)equation is a functional description for modelling ion-acoustic waves in plasma,long internal waves in a density-stratified ocean,shallow-water waves and acoustic waves on a crystal lattice.This paper focuses on developing and analysing a resilient double parametric analytical approach for the nonlinear fuzzy fractional KdV equation(FFKdVE)under gH-differentiability of Caputo fractional order,namely the q-Homotopy analysis method with the Shehu transform(q-HASTM).A triangular fuzzy number describes the Caputo fractional derivative of orderα,0<α≤1,for modelling problem.The fuzzy velocity profiles with crisp and fuzzy conditions at different spatial positions are in-vestigated using a robust double parametric form-based q-HASTM with its convergence analysis.The ob-tained results are compared with existing works in the literature to confirm the efficacy and effectiveness of the method.
文摘The preservation/restoration of natural environment is frequently entailing excessive cost （paid by people through taxation） while it is a source of additional income for both, the State and the people, due to tourism. Since the evaluation of this good cannot be in market terms, it is applied here in a modified version of the CVM （Contingent Valuation Method）, which is used in experimental economics in order to investigate the significance that people put on this good and how much they might be WTP （Willing to Pay） for supporting activities concerning the preservation/restoration of Lake Kastoria. The WTP dependence on （i） external diseconomies; （ii） the expectations for property values＇ rise as a result of the restoration; （iii） the proximity of interviewees＇ residence to the lake; （iv） the opinion of the interviewee on the time and money spent to visit the lake; （v） the time and money the interviewees spent to visit the lake, as well as other dependencies （all taken as independent variables） are estimated by means oflogit, probit, logistic and linear regression models. The optimal concentration Copt of a pollutant in the environment can be determined as an equilibrium point in the tradeoff between （i） environmental cost, due to impact on man/ecosystem/economy; and （ii） economic cost for environmental protection, as it can be expressed by Pigouvian tax. These two conflict variables are internalized within the same techno-economic objective function of total cost, which is minimized. In this work, the first conflict variable is represented by a WTP index. A methodology is developed for the estimation of this index by using fuzzy sets to count for uncertainty. Implementation of this methodology is presented, concerning odor pollution of air round an olive pomace oil mill.
文摘When the population, from which the samples are extracted, is not normally distributed, or if the sample size is particularly reduced, become preferable the use of not parametric statistic test. An alternative to the normal model is the permutation or randomization model. The permutation model is nonparametric because no formal assumptions are made about the population parameters of the reference distribution, i.e., the distribution to which an obtained result is compared to determine its probability when the null hypothesis is true. Typically the reference distribution is a sampling distribution for parametric tests and a permutation distribution for many nonparametric tests. Within the regression models, it is possible to use the permutation tests, considering their ownerships of optimality, especially in the multivariate context and the normal distribution of the response variables is not guaranteed. In the literature there are numerous permutation tests applicable to the estimation of the regression models. The purpose of this study is to examine different kinds of permutation tests applied to linear models, focused our attention on the specific test statistic on which they are based. In this paper we focused our attention on permutation test of the independent variables, proposed by Oja, and other methods to effect the inference in non parametric way, in a regression model. Moreover, we show the recent advances in this context and try to compare them.
基金This work was supported by the National Natural Science Foundation of China(No.60374024)the Program for Changjiang Scholars andInnovative Research Team in University.
文摘A parametric approach to robust fault detection in linear systems with unknown disturbances is presented.The residual is generated using full-order state observers(FSO).Based on an analytical solution to a type of Sylvester matrix equations,the parameterization of the observer gain matrix is given.In terms of the design degrees of freedom provided by the parametric observer design and a group of introduced parameter vectors,a sufficient and necessary condition for fullorder state observer design with disturbance decoupling is then established.By properly constraining the design parameters according to this proposed condition,the effect of the disturbance on the residual signal is also decoupled,and a simple algorithm is developed.The presented approach offers all the degrees of design freedom.Finally,a numerical example illustrates the effect of the proposed approach.
文摘This paper focuses on investigating the tendency of farmers in the greater area of Peloponnese as well as those on the greater area of Thessaly to participate in a program of environmental agricultural waste management.The aim of the present study is to investigate the level of amount WTA(Willingness to Accept)against which the farmers would be willing to allow anyone to gather and carry away the leftovers of their farming exploitation.To serve the above goals,the agricultural leftovers are evaluated by the CVM(Contingent Valuation Method)as an environmental non-market economic commodity.The specimen response on utilization of the rejected biomass was satisfactory,since a good percentage of the interviewees are willing to contribute to this procedure for a minimal of remuneration,although investigations of this type are novel for Greek reality.From this investigation,it is perceived by the society the importance of alternative utilization of the rejected biomass.It is concluded that the minimum amount each interviewee is willing to accept as minimal remuneration and is affected by the way these biomass leftovers are managed,the age of the interviewees and the area in which they live.Those interviewees who use such biomass leftovers in alternative applications wish to be remunerated higher compared to those who relinquish such leftovers.The ordinal logistic model is listed in a broader category of generalized linear models for arrangement data.
文摘Design of experiment （DOE） was applied to determining the most important factors which influence ultimate tensile strength （UTS） of AA6061/SiC nanocomposites produced by friction stir processing （FSP）. Effect of four factors, including rotational speed, transverse speed, tool penetration depth and pin profile, on UTS, was investigated. By Taguchi method, the optimum of process parameters were determined. Analysis of variance shows that the rotational speed is the most influential parameter. The statistical results depict that UTS for threaded pin is larger than that for square pin. Also, the higher the rotational speed and the lower the transverse speed, the higher the UTS.
基金Supported by the Major Program of the National Natural Science Foundation of China (Grant No. 60710002)the Program for Changjiang Scholars and Innovative Research Team in University, Self-planed Task of State Key Laboratory of Robotics and System (Grant No.SKLRS200801A03)and the Key Programs of Heilongjiang Province (Grant No. ZJC603)
文摘This paper considers parametric control of high-order descriptor linear systems via proportional plus derivative feedback. By employing general parametric solutions to a type of so-called high-order Sylvester matrix equations, complete parametric control approaches for high-order linear systems are presented. The proposed approaches give simple complete parametric expressions for the feedback gains and the closed-loop eigenvector matrices, and produce all the design degrees of freedom. Fur-thermore, important special cases are particularly treated. Based on the proposed parametric design approaches, a parametric method for the gain-scheduling controller design of a linear time-varying system is proposed and the design of a BTT missile autopilot is carried out. The simulation results show that the method is superior to the traditional one in sense of either global stability or system performance.
基金supported by the National Defense Basic Scientific Research Program of China (Grant No.JCKY2021204B051).
文摘In this paper,a fully actuated system approach(FASA)-based control scheme is proposed for the trajectory tracking of a quadrotor unmanned aerial vehicle(UAV).System uncertainty,external disturbance and actuator constraint are all considered,which make the problem challenging.Inspired by the active disturbance rejection control(ADRC),tracking di®erentiator(TD)and extended state observer(ESO)are introduced for handling the uncertainties and generating the feedback signals.With the proposed feedback control law,the performance of the resulted closed loop system is related to its eigenstructure-eigenvalue and eigenvectors.Based on a type of control parametrization method,the parametrized eigenstructure of the closed loop system are optimized.A better performance is observed by comparative numerical simulation.
基金This research was supported by the Natural Science Foundation of Heilongjiang Province under Grant No.LH2020F035.
文摘The multi-degree of freedom(muti-DOF)manipulator system is a complex control system with the strong coupling feature and high nonlinearity.In this paper,trajectory tracking control of a six-degree of freedom(6-DOF)manipulator based on fully-actuated system models and a direct parametric method is investigated.The fully-actuated system model of the 6-DOF manipulator is established by using the Denavit Hartenberg(DH)notation and Euler-Lagrange dynamics.A disturbance observer is constructed to solve the nonlinear uncertainties such as unmodeled dynamics and external disturbances.Then,a controller is designed using the direct parametric method to make the 6-DOF manipulator reach the desired position with high accuracy.After that,a switching control strategy is developed to suppress the peak value belonging to the controller.Simulation results reveal the effect of the proposed control approach.
