Nonlinear robust adaptive control for bidirectional stabilization system of all-electric tank with unknown actuator backlash compensation and disturbance estimation

Since backlash nonlinearity is inevitably existing in actuators for bidirectional stabilization system of allelectric tank,it behaves more drastically in high maneuvering environments.In this work,the accurate tracking control for bidirectional stabilization system of moving all-electric tank with actuator backlash and unmodeled disturbance is solved.By utilizing the smooth adaptive backlash inverse model,a nonlinear robust adaptive feedback control scheme is presented.The unknown parameters and unmodelled disturbance are addressed separately through the derived parametric adaptive function and the continuous nonlinear robust term.Because the unknown backlash parameters are updated via adaptive function and the backlash effect can be suppressed successfully by inverse operation,which ensures the system stability.Meanwhile,the system disturbance in the high maneuverable environment can be estimated with the constructed adaptive law online improving the engineering practicality.Finally,Lyapunov-based analysis proves that the developed controller can ensure the tracking error asymptotically converges to zero even with unmodeled disturbance and unknown actuator backlash.Contrast co-simulations and experiments illustrate the advantages of the proposed approach.

A Hybrid Model for Improving Software Cost Estimation in Global Software Development

Accurate software cost estimation in Global Software Development(GSD)remains challenging due to reliance on historical data and expert judgments.Traditional models,such as the Constructive Cost Model(COCOMO II),rely heavily on historical and accurate data.In addition,expert judgment is required to set many input parameters,which can introduce subjectivity and variability in the estimation process.Consequently,there is a need to improve the current GSD models to mitigate reliance on historical data,subjectivity in expert judgment,inadequate consideration of GSD-based cost drivers and limited integration of modern technologies with cost overruns.This study introduces a novel hybrid model that synergizes the COCOMO II with Artificial Neural Networks(ANN)to address these challenges.The proposed hybrid model integrates additional GSD-based cost drivers identified through a systematic literature review and further vetted by industry experts.This article compares the effectiveness of the proposedmodelwith state-of-the-artmachine learning-basedmodels for software cost estimation.Evaluating the NASA 93 dataset by adopting twenty-six GSD-based cost drivers reveals that our hybrid model achieves superior accuracy,outperforming existing state-of-the-artmodels.The findings indicate the potential of combining COCOMO II,ANN,and additional GSD-based cost drivers to transform cost estimation in GSD.

Command filtered integrated estimation guidance and control for strapdown missiles with circular field of view

In this paper,an integrated estimation guidance and control(IEGC)system is designed based on the command filtered backstepping approach for circular field-of-view(FOV)strapdown missiles.The threedimensional integrated estimation guidance and control nonlinear model with limited actuator deflection angle is established considering the seeker's FOV constraint.The boundary time-varying integral barrier Lyapunov function(IBLF)is employed in backstepping design to constrain the body line-of-sight(BLOS)in IEGC system to fit a circular FOV.Then,the nonlinear adaptive controller is designed to estimate the changing aerodynamic parameters.The generalized extended state observer(GESO)is designed to estimate the acceleration of the maneuvering targets and the unmatched time-varying disturbances for improving tracking accuracy.Furthermore,the command filters are used to solve the"differential expansion"problem during the backstepping design.The Lyapunov theory is used to prove the stability of the overall closed-loop IEGC system.Finally,the simulation results validate the integrated system's effectiveness,achieving high accuracy strikes against maneuvering targets.

Robust design of sliding mode control for airship trajectory tracking with uncertainty and disturbance estimation

The robotic airship can provide a promising aerostatic platform for many potential applications.These applications require a precise autonomous trajectory tracking control for airship.Airship has a nonlinear and uncertain dynamics.It is prone to wind disturbances that offer a challenge for a trajectory tracking control design.This paper addresses the airship trajectory tracking problem having time varying reference path.A lumped parameter estimation approach under model uncertainties and wind disturbances is opted against distributed parameters.It uses extended Kalman filter(EKF)for uncertainty and disturbance estimation.The estimated parameters are used by sliding mode controller(SMC)for ultimate control of airship trajectory tracking.This comprehensive algorithm,EKF based SMC(ESMC),is used as a robust solution to track airship trajectory.The proposed estimator provides the estimates of wind disturbances as well as model uncertainty due to the mass matrix variations and aerodynamic model inaccuracies.The stability and convergence of the proposed method are investigated using the Lyapunov stability analysis.The simulation results show that the proposed method efficiently tracks the desired trajectory.The method solves the stability,convergence,and chattering problem of SMC under model uncertainties and wind disturbances.

Time-varying parameters estimation with adaptive neural network EKF for missile-dual control system

In this paper, a filtering method is presented to estimate time-varying parameters of a missile dual control system with tail fins and reaction jets as control variables. In this method, the long-short-term memory(LSTM) neural network is nested into the extended Kalman filter(EKF) to modify the Kalman gain such that the filtering performance is improved in the presence of large model uncertainties. To avoid the unstable network output caused by the abrupt changes of system states,an adaptive correction factor is introduced to correct the network output online. In the process of training the network, a multi-gradient descent learning mode is proposed to better fit the internal state of the system, and a rolling training is used to implement an online prediction logic. Based on the Lyapunov second method, we discuss the stability of the system, the result shows that when the training error of neural network is sufficiently small, the system is asymptotically stable. With its application to the estimation of time-varying parameters of a missile dual control system, the LSTM-EKF shows better filtering performance than the EKF and adaptive EKF(AEKF) when there exist large uncertainties in the system model.

Uncertainty and disturbance estimator-based model predictive control for wet flue gas desulphurization system

Wet flue gas desulphurization technology is widely used in the industrial process for its capability of efficient pollution removal.The desulphurization control system,however,is subjected to complex reaction mechanisms and severe disturbances,which make for it difficult to achieve certain practically relevant control goals including emission and economic performances as well as system robustness.To address these challenges,a new robust control scheme based on uncertainty and disturbance estimator(UDE)and model predictive control(MPC)is proposed in this paper.The UDE is used to estimate and dynamically compensate acting disturbances,whereas MPC is deployed for optimal feedback regulation of the resultant dynamics.By viewing the system nonlinearities and unknown dynamics as disturbances,the proposed control framework allows to locally treat the considered nonlinear plant as a linear one.The obtained simulation results confirm that the utilization of UDE makes the tracking error negligibly small,even in the presence of unmodeled dynamics.In the conducted comparison study,the introduced control scheme outperforms both the standard MPC and PID(proportional-integral-derivative)control strategies in terms of transient performance and robustness.Furthermore,the results reveal that a lowpass-filter time constant has a significant effect on the robustness and the convergence range of the tracking error.

Cost Control Strategies in the Pre-Construction Period of Highway Construction

Effective cost control in the investment and design phases of highway construction is crucial for managing project expenses.However,current management practices often overlook pre-construction cost management,leading to budget overruns and project delays during later stages.To ensure the smooth execution and cost control of highway construction projects,this paper examines the significance of cost control,evaluates the current state and challenges of highway construction,and proposes strategies for cost management.These strategies aim to establish a robust foundation for cost management in highway projects.

Feedback control and quantum error correction assisted quantum multi-parameter estimation

Quantum metrology provides a fundamental limit on the precision of multi-parameter estimation,called the Heisenberg limit,which has been achieved in noiseless quantum systems.However,for systems subject to noises,it is hard to achieve this limit since noises are inclined to destroy quantum coherence and entanglement.In this paper,a combined control scheme with feedback and quantum error correction(QEC)is proposed to achieve the Heisenberg limit in the presence of spontaneous emission,where the feedback control is used to protect a stabilizer code space containing an optimal probe state and an additional control is applied to eliminate the measurement incompatibility among three parameters.Although an ancilla system is necessary for the preparation of the optimal probe state,our scheme does not require the ancilla system to be noiseless.In addition,the control scheme in this paper has a low-dimensional code space.For the three components of a magnetic field,it can achieve the highest estimation precision with only a 2-dimensional code space,while at least a4-dimensional code space is required in the common optimal error correction protocols.

Adaptive recurrent neural network for uncertainties estimation in feedback control system

In this paper,a recurrent neural network(RNN)is used to estimate uncertainties and implement feedback control for nonlinear dynamic systems.The neural network approximates the uncertainties related to unmodeled dynamics,parametric variations,and external disturbances.The RNN has a single hidden layer and uses the tracking error and the output as feedback to estimate the disturbance.The RNN weights are online adapted,and the adaptation laws are developed from the stability analysis of the controlled system with the RNN estimation.The used activation function,at the hidden layer,has an expression that simplifies the adaptation laws from the stability analysis.It is found that the adaptive RNN enhances the tracking performance of the feedback controller at the transient and steady state responses.The proposed RNN based feedback control is applied to a DC–DC converter for current regulation.Simulation and experimental results are provided to show its effectiveness.Compared to the feedforward neural network and the conventional feedback control,the RNN based feedback control provides good tracking performance.

Direct Trajectory Optimization and Costate Estimation of Infinite-horizon Optimal Control Problems Using Collocation at the Flipped Legendre-Gauss-Radau Points

A pseudospectral method is presented for direct trajectory optimization and costate estimation of infinite-horizon optimal control problems using global collocation at flipped Legendre-Gauss-Radau points which include the end point +1.A distinctive feature of the method is that it uses a new smooth,strictly monotonically decreasing transformation to map the scaled left half-open interval τ∈(-1, +1] to the descending time interval t ∈(+∞, 0]. As a result, the singularity of collocation at point +1 associated with the commonly used transformation,which maps the scaled right half-open interval τ∈ [-1, +1) to the increasing time interval [0, +∞), is avoided. The costate and constraint multiplier estimates for the proposed method are rigorously derived by comparing the discretized necessary optimality conditions of a finite-horizon optimal control problem with the Karush-Kuhn-Tucker conditions of the resulting nonlinear programming problem from collocation. Another key feature of the proposed method is that it provides highly accurate approximation to the state and costate on the entire horizon, including approximation at t = +∞, with good numerical stability.Numerical results show that the method presented in this paper leads to the ability to determine highly accurate solutions to infinite-horizon optimal control problems.

Stability Estimation for Markov Control Processes with Discounted Cost

This article explores controllable Borel spaces, stationary, homogeneous Markov processes, discrete time with infinite horizon, with bounded cost functions and using the expected total discounted cost criterion. The problem of the estimation of stability for this type of process is set. The central objective is to obtain a bounded stability index expressed in terms of the Lévy-Prokhorov metric;likewise, sufficient conditions are provided for the existence of such inequalities.

Road Friction Estimation under Complicated Maneuver Conditions for Active Yaw Control

Road friction coefficient is a key factor for the stability control of the vehicle dynamics in the critical conditions. Obviously the vehicle dynamics stability control systems, including the anti-lock brake system（ABS）, the traction control system（TCS）, and the active yaw control（AYC） system, need the accurate tire and road friction information. However, the simplified method based on the linear tire and vehicle model could not obtain the accurate road friction coefficient for the complicated maneuver of the vehicle. Because the active braking control mode of AYC is different from that of ABS, the road friction coefficient cannot be estimated only with the dynamics states of the tire. With the related dynamics states measured by the sensors of AYC, a comprehensive strategy of the road friction estimation for the active yaw control is brought forward with the sensor fusion technique. Firstly, the variations of the dynamics characteristics of vehicle and tire, and the stability control mode in the steering process are considered, and then the proper road friction estimation methods are brought forward according to the vehicle maneuver process. In the steering maneuver without braking, the comprehensive road friction from the four wheels may be estimated based on the multi-sensor signal fusion method. The estimated values of the road friction reflect the road friction characteristic. When the active brake involved, the road friction coefficient of the braked wheel may be estimated based on the brake pressure and tire forces, the estimated values reflect the road friction between the braked wheel and the road. So the optimal control of the wheel slip rate may be obtained according to the road friction coefficient. The methods proposed in the paper are integrated into the real time controller of AYC, which is matched onto the test vehicle. The ground tests validate the accuracy of the proposed method under the complicated maneuver conditions.

Consensus Control of Multi-Agent Systems Using Fault-Estimation-in-the-Loop:Dynamic Event-Triggered Case

The paper develops a novel framework of consensus control with fault-estimation-in-the-loop for multi-agent systems(MASs)in the presence of faults.A dynamic event-triggered protocol(DETP)by adding an auxiliary variable is utilized to improve the utilization of communication resources.First,a novel estimator with a noise bias is put forward to estimate the existed fault and then a consensus controller with fault compensation(FC)is adopted to realize the demand of reliability and safety of addressed MASs.Subsequently,a novel consensus control framework with fault-estimation-in-the-loop is developed to achieve the predetermined consensus performance with the l_(2)-l_(∞)constraint by employing the variance analysis and the Lyapunov stability approaches.Furthermore,the desired estimator and controller gains are obtained in light of the solution to an algebraic matrix equation and a linear matrix inequality in a recursive way,respectively.Finally,a simulation result is employed to verify the usefulness of the proposed design framework.

A novel anti-slip control approach for railway vehicles with traction based on adhesion estimation with swarm intelligence

Anti-slip control systems are essential for railway vehicle systems with traction.In order to propose an effective anti-slip control system,adhesion information between wheel and rail can be useful.However,direct measurement or observation of adhesion condition for a railway vehicle in operation is quite demanding.Therefore,a proportional–integral controller,which operates simultaneously with a recently proposed swarm intelligencebased adhesion estimation algorithm,is proposed in this study.This approach provides determination of the adhesion optimum on the adhesion-slip curve so that a reference slip value for the controller can be determined according to the adhesion conditions between wheel and rail.To validate the methodology,a tram wheel test stand with an independently rotating wheel,which is a model of some low floor trams produced in Czechia,is considered.Results reveal that this new approach is more effective than a conventional controller without adhesion condition estimation.

An Artificial Neural Network-Based Model for Effective Software Development Effort Estimation

In project management,effective cost estimation is one of the most cru-cial activities to efficiently manage resources by predicting the required cost to fulfill a given task.However,finding the best estimation results in software devel-opment is challenging.Thus,accurate estimation of software development efforts is always a concern for many companies.In this paper,we proposed a novel soft-ware development effort estimation model based both on constructive cost model II(COCOMO II)and the artificial neural network(ANN).An artificial neural net-work enhances the COCOMO model,and the value of the baseline effort constant A is calibrated to use it in the proposed model equation.Three state-of-the-art publicly available datasets are used for experiments.The backpropagation feed-forward procedure used a training set by iteratively processing and training a neural network.The proposed model is tested on the test set.The estimated effort is compared with the actual effort value.Experimental results show that the effort estimated by the proposed model is very close to the real effort,thus enhanced the reliability and improving the software effort estimation accuracy.

Memory-Type Control Charts Through the Lens of Cost Parameters

A memory-type control chart utilizes previous information for chart construction.An example of a memory-type chart is an exponentially-weighted moving average(EWMA)control chart.The EWMA control chart is well-known and widely employed by practitioners for monitoring small and moderate process mean shifts.Meanwhile,the EWMA median chart is robust against outliers.In light of this,the economic model of the EWMA and EWMA median control charts are commonly considered.This study aims to investigate the effect of cost parameters on the out-of-control average run lengthðARL_(1)Þin implementing EWMA and EWMA median control charts.The economic model was used to compute the ARL_(1) parameter.The 14 input parameters were identified and the analysis was carried out based on the one-parameter-at-a-time basis.When the input parameters change based on a predetermined percentage,the ARL_(1) is affected.According to the results of the EWMA chart,nine input parameters had an effect andfive input parameters had no effect on the ARL_(1) parameter.Further,only seven of the 14 input parameters had an effect on the ARL_(1) of the EWMA median chart.However,the effect of each input parameter on the ARL_(1) was different.Moreover,the ARL_(1) for the EWMA median chart was smaller than the EWMA chart.This analysis is crucial to observe and determine the input parameters that have a significant impact on the ARL_(1) of the EMWA and EWMA median control charts.Hence,practitioners can obtain an overview of the influence of the input parameters on the ARL_(1) when implementing the EWMA and EWMA median control charts.

Comparison of School Building Construction Costs Estimation Methods Using Regression Analysis, Neural Network, and Support Vector Machine

Accurate cost estimation at the early stage of a construction project is key factor in a project’s success. But it is difficult to quickly and accurately estimate construction costs at the planning stage, when drawings, documentation and the like are still incomplete. As such, various techniques have been applied to accurately estimate construction costs at an early stage, when project information is limited. While the various techniques have their pros and cons, there has been little effort made to determine the best technique in terms of cost estimating performance. The objective of this research is to compare the accuracy of three estimating techniques (regression analysis (RA), neural network (NN), and support vector machine techniques (SVM)) by performing estimations of construction costs. By comparing the accuracy of these techniques using historical cost data, it was found that NN model showed more accurate estimation results than the RA and SVM models. Consequently, it is determined that NN model is most suitable for estimating the cost of school building projects.

Near time optimal control with perturbation estimation for flexible spacecraft slewing maneuvers

A feedforward approach for generating near time optimal controller for flexible spacecraft rest-to-rest maneuvers is presented with the objective insensitivity to modeling errors, parameter uncertainty and minimizing the residual energy of the flexible modes. The perturbation estimation of flexible appendages to the rigid-hub is accomplished simply via compare the output of real plant with the reference model, and the approach is based on combine this estimation with the bang-bang control for the rigid-hub modes through analysis the basic constraint and the additional constraint, i.e. zero coupling torque and zero coupling torque derivative for general two orders system and three orders system with considerate attitude acceleration mode near time optimal controls. These time optimal controls with control constraints and state constraints leads to forming a boundary-value problem, and resolved the problem using an iterative numerical algorithm. The near time optimal control with perturbation estimation shows a good robust to parameter uncertainty and can suppress the vibration and minimizing the residual energy. The capability of this approach is demonstrated through a numerical example in detail.

A parameter estimation based adaptive actuator failure compensation control scheme

An adaptive actuator failure compensation control scheme is developed using an indirect adaptive control method,by calculating the controller parameters from adaptive estimates of system parameters and actuator failure parameters.A key technical issue is how to deal with the actuator failure uncertainties such as failure pattern,time and values.A complete parametrization covering all possible failures is used to solve this issue for adaptive parameter estimation.A simultaneous mapping from the estimated system/failure parameters to the controller parameters is employed to make the control system capable of ensuring the desired system performance under failures,which is verified by simulation results.

Software Cost Estimation Approaches: A Survey

The software cost estimation aims to predict the most realistic effort that is required to finish a software project and so it is critical to the success of a software project management. A Software Cost Estimation affects nearly all management activities, including project bidding, resource allocation and project planning. It is affected by a number of factors, such as implementation efficiency, as well as how much the various reviews and studies completed prior to the software development stage cost. Accurate cost estimation will help us to complete the project on time and within budget. Accurate estimation is important because it has led to extensive research into the methods of software cost estimation. Some important software cost estimation methods have been studied in this research work. In addition, we have set out own criteria, which has been used to compare all the different selected methods. We have also given a score for each evaluation criteria, so that we can compare the different methods numerically for cost estimation. Our observations have shown that it is best to use a number of different estimating techniques or cost models, and then compare the results before determining the reasons for any of the large variations. None of the methods are necessarily better or worse than the others. We found, in fact, that their strengths and weaknesses often complement each other. Therefore, the main conclusion is that there is no one single technique that is best for every situation, and the results of a number of different approaches need to be carefully considered to discover what is the most likely to produce estimates that are realistic.