Practical prescribed-time fuzzy tracking control for uncertain nonlinear systems with time-varying actuators faults

The paper investigates the practical prescribed-time fuzzy tracking control problem for a category of nonlinear system subject to time-varying actuator faults.The presence of unknown nonlinear dynamics and actuator faults makes achieving tracking control within a prescribed-time challenging.To tackle this issue,we propose a novel practical prescribed-time fuzzy tracking control strategy,which is independent of the initial state of the system and does not rely on precise modeling of the system and actuators.We apply the approximation capabilities of fuzzy logic systems to handle the unknown nonlinear functions and unidentified actuator faults in the system.The piecewise controller and adaptive law constructed based on piecewise prescribed time-varying function and backstepping technique method establish the theoretical framework of practical prescribed-time tracking control,and extend the range of prescribed-time tracking control to infinity.Regardless of the initial conditions,the proposed control strategy can guarantee that all signals remain uniformly bounded within the practical prescribed time in the presence of unknown nonlinear item and time-varying actuator faults.Simulation example is presented to demonstrate the effectiveness of the proposed control strategy.

Hepatic perivascular epithelioid cell tumors:Benign,malignant,and uncertain malignant potential

In 2013,the World Health Organization defined perivascular epithelioid cell tumor(PEComa)as“a mesenchymal tumor which shows a local association with vessel walls and usually expresses melanocyte and smooth muscle markers.”This generic definition seems to better fit the PEComa family,which includes angiomyolipoma,clear cell sugar tumor of the lung,lymphangioleiomyomatosis,and a group of histologically and immunophenotypically similar tumors that include primary extrapulmonary sugar tumor and clear cell myomelanocytic tumor.Clear cell tumors with this immunophenotypic pattern have also had their malignant variants described.When localizing to the liver,preoperative radiological diagnosis has proven to be very difficult,and most patients have been diagnosed with hepatocellular carcinoma,focal nodular hyperplasia,hemangioma,or hepatic adenoma based on imaging findings.Examples of a malignant variant of the liver have been described.Finally,reports of malignant variants of these lesions have increased in recent years.Therefore,we support the use of the Folpe criteria,which in 2005 established the criteria for categorizing a PEComa as benign,malignant,or of uncertain malignant potential.Although they are not considered ideal,they currently seem to be the best approach and could be used for the categorization of liver tumors.

Disturbance Observer-Based Predictive Tracking Control of Uncertain HOFA Cyber-Physical Systems

Dear Editor,In this letter,an output tracking control problem of uncertain cyber-physical systems(CPSs)is considered in the perspective of high-order fully actuated(HOFA)system theory,where a lumped disturbance is used to denote the total uncertainties containing parameters perturbations and external disturbances.

Adaptive Consensus of Uncertain Multi-Agent Systems With Unified Prescribed Performance

Dear Editor,An adaptive consensus control algorithm for uncertain multi-agent systems(MAS),capable of guaranteeing unified prescribed performance,is presented in this letter.Unlike many existing prescribed performance related works,the developed control exhibits some features.Firstly,a distributed prescribed time observer is introduced so that not only each follower is able to estimate the leader’s signal within a predetermined time,but also the control design for each agent is independent with its neighbors.

Semi-analytical solution for mechanical analysis of tunnels crossing strike-slip fault zone considering nonuniform fault displacement and uncertain fault plane position

The tunnel subjected to strike-slip fault dislocation exhibits severe and catastrophic damage.The existing analysis models frequently assume uniform fault displacement and fixed fault plane position.In contrast,post-earthquake observations indicate that the displacement near the fault zone is typically nonuniform,and the fault plane position is uncertain.In this study,we first established a series of improved governing equations to analyze the mechanical response of tunnels under strike-slip fault dislocation.The proposed methodology incorporated key factors such as nonuniform fault displacement and uncertain fault plane position into the governing equations,thereby significantly enhancing the applicability range and accuracy of the model.In contrast to previous analytical models,the maximum computational error has decreased from 57.1%to 1.1%.Subsequently,we conducted a rigorous validation of the proposed methodology by undertaking a comparative analysis with a 3D finite element numerical model,and the results from both approaches exhibited a high degree of qualitative and quantitative agreement with a maximum error of 9.9%.Finally,the proposed methodology was utilized to perform a parametric analysis to explore the effects of various parameters,such as fault displacement,fault zone width,fault zone strength,the ratio of maximum fault displacement of the hanging wall to the footwall,and fault plane position,on the response of tunnels subjected to strike-slip fault dislocation.The findings indicate a progressive increase in the peak internal forces of the tunnel with the rise in fault displacement and fault zone strength.Conversely,an augmentation in fault zone width is found to contribute to a decrease in the peak internal forces.For example,for a fault zone width of 10 m,the peak values of bending moment,shear force,and axial force are approximately 46.9%,102.4%,and 28.7% higher,respectively,compared to those observed for a fault zone width of 50 m.Furthermore,the position of the peak internal forces is influenced by variations in the ratio of maximum fault displacement of the hanging wall to footwall and the fault plane location,while the peak values of shear force and axial force always align with the fault plane.The maximum peak internal forces are observed when the footwall exclusively bears the entirety of the fault displacement,corresponding to a ratio of 0:1.The peak values of bending moment,shear force,and axial force for the ratio of 0:1 amount to approximately 123.8%,148.6%,and 111.1% of those for the ratio of 0.5:0.5,respectively.

Reinforcement learning based adaptive control for uncertain mechanical systems with asymptotic tracking

This paper mainly focuses on the development of a learning-based controller for a class of uncertain mechanical systems modeled by the Euler-Lagrange formulation.The considered system can depict the behavior of a large class of engineering systems,such as vehicular systems,robot manipulators and satellites.All these systems are often characterized by highly nonlinear characteristics,heavy modeling uncertainties and unknown perturbations,therefore,accurate-model-based nonlinear control approaches become unavailable.Motivated by the challenge,a reinforcement learning(RL)adaptive control methodology based on the actor-critic framework is investigated to compensate the uncertain mechanical dynamics.The approximation inaccuracies caused by RL and the exogenous unknown disturbances are circumvented via a continuous robust integral of the sign of the error(RISE)control approach.Different from a classical RISE control law,a tanh(·)function is utilized instead of a sign(·)function to acquire a more smooth control signal.The developed controller requires very little prior knowledge of the dynamic model,is robust to unknown dynamics and exogenous disturbances,and can achieve asymptotic output tracking.Eventually,co-simulations through ADAMS and MATLAB/Simulink on a three degrees-of-freedom(3-DOF)manipulator and experiments on a real-time electromechanical servo system are performed to verify the performance of the proposed approach.

Guaranteed Cost Attitude Tracking Control for Uncertain Quadrotor Unmanned Aerial Vehicle Under Safety Constraints

In this paper,guaranteed cost attitude tracking con-trol for uncertain quadrotor unmanned aerial vehicle(QUAV)under safety constraints is studied.First,an augmented system is constructed by the tracking error system and reference system.This transformation aims to convert the tracking control prob-lem into a stabilization control problem.Then,control barrier function and disturbance attenuation function are designed to characterize the violations of safety constraints and tolerance of uncertain disturbances,and they are incorporated into the reward function as penalty items.Based on the modified reward function,the problem is simplified as the optimal regulation problem of the nominal augmented system,and a new Hamilton-Jacobi-Bellman equation is developed.Finally,critic-only rein-forcement learning algorithm with a concurrent learning tech-nique is employed to solve the Hamilton-Jacobi-Bellman equa-tion and obtain the optimal controller.The proposed algorithm can not only ensure the reward function within an upper bound in the presence of uncertain disturbances,but also enforce safety constraints.The performance of the algorithm is evaluated by the numerical simulation.

从程序员到鸟类专家

Born in Sichuan Province,Mei Jian now lives in Canada.He graduated from the Com⁃puter Science Department of Sun Yat⁃sen Uni⁃versity in 1992 and worked as a programmer.Encouraged by friends,he began bird⁃watching in 2016 and developed a fondness for bird pho⁃tography.However,he found that he was occa⁃sionally uncertain about what species he had photographed.

A Method for Determining the Importance of Critical Emergency Indicators Based on Multi-granularity Uncertain Language

In view of the complexity of emergencies and the subjectivity of decision-makers,a method of determining key emergency indicators based on multi-granularity uncertainty language is proposed.Firstly,decision members use preferred uncertain language phrases to represent the importance of each key indicator and use transformation functions to carry out the consistent transformation of this multi-granularity uncertain language information.Secondly,the group evaluation vector is obtained by using the extended weighted average operator of uncertainty,and then the weight vector of each key index is obtained by using the decision theory of uncertain language.Finally,an example is given to verify the practicability and effectiveness of the proposed method.

Application of uncertain type of AHP to condition assessment of cable-stayed bridges

In order to guarantee the safety service and life-span of long-span cable-stayed bridges, the uncertain type of analytic hierarchy process （AHP） method is adopted to access the bridge condition. The correlative theory and applied objects of uncertain type of AHP are introduced, and then the optimal transitive matrix method is chosen to calculate the interval number judgment matrix, which makes the weights of indices more reliable and accurate. Finally, with Harbin Songhua River Cable-Stayed Bridge as an example, an index system and an assessment model are proposed for the condition assessment of this bridge, and by using uncertain type of AHP, the weights of assessment indices are fixed and the final assessment results of the bridge are calculated, which proves the feasibility and practicability of this method. The application of this assessment method can provide the scientific basis for maintenance and management of long-span cable-stayed bridges.

An interacting multiple model-based two-stage Kalman filter for vehicle positioning

To address the problem that a general augmented state Kalman filter or a two-stage Kalman filter cannot achieve satisfactory positioning performance when facing uncertain noise of the micro-electro-mechanical system（MEMS） inertial sensors, a novel interacting multiple model-based two-stage Kalman filter（IMM-TSKF） is proposed to adapt to the uncertain inertial sensor noise. Three bias filters are developed based on different noise characteristics to cover a wide range of noise levels. Then, an accurate estimation of biases is calculated by the interacting multiple model algorithm to correct the bias-free filter. Thus, the vehicle positioning system can achieve good performance when suffering from uncertain inertial sensor noise. The experimental results indicate that the average position error of the proposed IMMTSKF is 25% lower than that of the general TSKF.

Robust Airfoil Optimization with Multi-objective Estimation of Distribution Algorithm

A transonic airfoil designed by means of classical point-optimization may result in its dramatically inferior performance under off-design conditions. To overcome this shortcoming, robust design is proposed to find out the optimal profile of an airfoil to maintain its performance in an uncertain environment. The robust airfoil optimization is aimed to minimize mean values and variances of drag coefficients while satisfying the lift and thickness constraints over a range of Mach numbers. A multi-objective estimation of distribution algorithm is applied to the robust airfoil optimization on the base of the RAE2822 benchmark airfoil. The shape of the airfoil is obtained through superposing ten Hick-Henne shape functions upon the benchmark airfoil. A set of design points is selected according to a uniform design table for aerodynamic evaluation. A Kriging model of drag coefficient is constructed with those points to reduce computing costs. Over the Mach range from 0.7 to 0.8, the airfoil generated by the robust optimization has a configuration characterized by supercritical airfoil with low drag coefficients. The small fluctuation in its drag coefficients means that the performance of the robust airfoil is insensitive to variation of Mach number.

TWO-DIMENSIONAL STOCHASTIC AIRFOIL OPTIMIZATION DESIGN METHOD BASED ON NEURAL NETWORKS

To avoid the aerodynamic performance loss of airfoil at non-design state which often appears in single point design optimization, and to improve the adaptability to the uncertain factors in actual flight environment, a two-dimensional stochastic airfoil optimization design method based on neural networks is presented. To provide highly efficient and credible analysis, four BP neural networks are built as surrogate models to predict the airfoil aerodynamic coefficients and geometry parameter. These networks are combined with the probability density function obeying normal distribution and the genetic algorithm, thus forming an optimization design method. Using the method, for GA（W）-2 airfoil, a stochastic optimization is implemented in a two-dimensional flight area about Mach number and angle of attack. Compared with original airfoil and single point optimization design airfoil, results show that the two-dimensional stochastic method can improve the performance in a specific flight area, and increase the airfoil adaptability to the stochastic changes of multiple flight parameters.

Approach to obtaining weights of uncertain ordered weighted geometric averaging operator

The ordered weighted geometric averaging（OWGA） operator is extended to accommodate uncertain conditions where all input arguments take the forms of interval numbers. First, a possibility degree formula for the comparison between interval numbers is introduced. It is proved that the introduced formula is equivalent to the existing formulae, and also some desired properties of the possibility degree is presented. Secondly, the uncertain OWGA operator is investigated in which the associated weighting parameters cannot be specified, but value ranges can be obtained and the associated aggregated values of an uncertain OWGA operator are known. A linear objective-programming model is established; by solving this model, the associated weights vector of an uncertain OWGA operator can be determined, and also the estimated aggregated values of the alternatives can be obtained. Then the alternatives can be ranked by the comparison of the estimated aggregated values using the possibility degree formula. Finally, a numerical example is given to show the feasibility and effectiveness of the developed method.

Economic Policy Uncertainty and Corporate Mergers and Acquisitions

In recent years,the frequent adjustment of the government’s economic policies and the uncertainty of foreign economic situations have made the degree of uncertainty of China’s economic policies rise continuously.The increasing degree of policy uncertainty will inevitably affect the investment and financing decisions of micro enterprises.Then,how does economic policy uncertainty(EPU)affect mergers and acquisitions(M&A)behavior?What’s the mechanism?Based on the above questions,this paper uses the data of non-financial listed companies in the Shanghai and Shenzhen stock exchanges from 2008 to 2018 as a sample to explore the relationship between EPU and M&A.The study shows that rising EPU will promote corporate M&A behavior,and this effect is more significant in slow-growth companies.The relationship between EPU and M&A is affected by corporate governance,stock price volatility and financing constraints.Specifically,the company’s M&A size is more sensitive to EPU with higher level of corporate governance,higher level of stock price volatility,and lesser financing constraints.Further research shows that the rise of EPU will significantly promote the improvement of M&A performance in the short-term,but this effect does not exist in the long-term.Various robustness checks do not change the empirical results of this paper.

The uncertain analysis of micro agricultural project investment

We conduct uncertain analysis of micro agricultural project, including the break-even analysis of single product micro agricultural project, the boundary break-even points analysis of the double product micro agricultural project. We find out the critical point and the critical line of the break-even. We analyze the ability to resist risk. This analyses help the micro agricultural project＇s investors to price reasonably, forecast the earnings and make the correct decision.

The uncertain analysis of micro agricultural project investment

We conduct uncertain analysis of micro agricultural project, including the break-even analysis of single product micro agricultural project, the boundary break-even points analysis of the double product micro agricultural project. We find out the critical point and the critical line of the break-everL We analyze the ability to resist risk. This analyses help the micro agricultural project＇s investors to price reasonably, forecast the earnings and make the correct decision.

Two-phase TOPSIS of uncertain multi-attribute group decision-making

To solve the uncertain multi-attribute group decision-making of unknown attribute weights,three optimal models are built to decide the corresponding ideal solution weights,standard deviation weights and mean deviation weights.The comprehensive attribute weights are gotten through the product of the above three kinds of weights.And each decision maker＇s weighted decision matrices are also received by using the integrated attribute weights.The closeness degrees are also gotten by use of technique for order preference by similarity to ideal solution（TOPSIS） through dealing with the weighted decision matrices.At the same time the group decision matrix and weighted group decision matrix are gotten by using each decision-maker＇s closeness degree to every project.Then the vertical TOPSIS method is used to calculate the closeness degree of each project.So these projects can be ranked according to their values of the closeness degree.The process of the method is also given step by step.Finally,a numerical example demonstrates the feasibility and effectiveness of the approach.

Recognition and analysis of potential risks in China's carbon emission trading markets

China formally launched the carbon trading pilots in seven provinces and cities in 2013.Based on the operating situations of international carbon emission trading markets and that in China,this study compares and analyzes the potential risks in the European Union Emission Trading Scheme,California’s cap-and-trade system,and the seven regional carbon trading pilots in China.It mainly recognizes market operation risks,risks of uncertain policy expectation,and risks of uncertain mechanism designs existing in China's carbon trading pilots.The carbon market risks are not good for the formation of rational price signals,making it difficult to guide enterprises on how to make low-carbon technology in-vestments.Such risks also affect the effectiveness and functions of carbon markets,which can lead to the non-achievement of national emission reduction goals.China has launched the national carbon emission trading scheme on December 19,2017.While building the national carbon trading scheme,it is important to fully refer to the experiences of international carbon markets and China's carbon trading pilots apart from strengthening the recognition,control,and supervision of carbon market risks.Doing so can promote the healthy development of China's na-tional carbon trading scheme.

Backstepping adaptive fuzzy control of uncertain nonlinear systems against actuator faults

A class of unknown nonlinear systems subject to uncertain actuator faults and external disturbances will be studied in this paper with the help of fuzzy approximation theory. Using backstepping technique, a novel adaptive fuzzy control approach is proposed to accommodate the uncertain actuator faults during operation and deal with the external disturbances though the systems cannot be linearized by feedback. The considered faults are modeled as both loss of effectiveness and lock-in-place （stuck at some unknown place）. It is proved that the proposed control scheme can guarantee all signals of the closed-loop system to be semi-globally uniformly ultimately bounded and the tracking error between the system output and the reference signal converge to a small neighborhood of zero, though the nonlinear functions of the controlled system as well as the actuator faults and the external disturbances are all unknown. Simulation results demonstrate the effectiveness of the control approach.