Adaptive fuzzy multi-surface sliding control of multiple-input and multiple-output autonomous flight systems

In this study, we proposed an adaptive fuzzy multi-surface sliding control (AFMSSC) for trajectory tracking of 6 degrees of freedom inertia coupled aerial vehicles with multiple inputs and multiple outputs (MIMO). It is shown that an adaptive fuzzy logic-based function approximator can be used to estimate the system uncertainties and an iterative multi-surface sliding control design can be carried out to control flight. Using AFMSSC on MIMO autonomous flight systems creates confluent control that can account for both matched and mismatched uncertainties, system disturbances and excitation in internal dynamics. It is proved that the AFMSSC system guarantees asymptotic output tracking and ultimate uniform boundedness of the tracking error. Simulation results are presented to validate the analysis.

Multi-surface sliding control of MIMO autonomous flight systems

In this paper, a multi-surface sliding control (MSSC) is proposed for trajectory tracking of 6 degrees of freedom (6-DOF) inertia coupled aerial vehicles with multiple inputs and multiple outputs (MIMO). It is shown that an iterative MSSC design can be carried out to control flight. Using MSSC on MIMO autonomous flight systems creates confluent control that can account for model mismatches, system uncertainties, system disturbances and excitation in internal dynamics. We prove that the MSSC system guarantees asymptotic output tracking and ultimate uniform boundedness of the system. Simulation results are presented to validate the analysis.

Multi-surface sliding control of MIMO autonomous flight systems

In this paper, we present a hardware in the loop simulation of our proposed multi-surface sliding control (MSSC) for trajectory tracking of 6 degrees of freedom (6-DOF) inertia coupled aerial vehicles with multiple inputs and multiple outputs (MIMO). Using MSSC on MIMO autonomous flight systems creates confluent control that can account for both matched and mismatched uncertainties, system disturbances and excitation in internal dynamics. The control law is implemented on an onboard computer and is validated though Hardware-In-the-Loop (HIL) simulations, between the hardware and the flight simulator X-Plane, which simulates the unmanned aircraft dynamics, sensors, and actuators. Simulation results are presented to validate the analysis.

Partial state estimation for linear systems with output and input time delays.

This paper deals with the problem of partial state observer design for linear systems that are subject to time delays in the measured output as well as the control input. By choosing a set of appropriate augmented Lyapunov-Krasovskii functionals with a triple-integral term and using the information of both the delayed output and input, a novel approach to design a minimal-order observer is proposed to guarantee that the observer error is ε-convergent with an exponential rate. Existence conditions of such an observer are derived in terms of matrix inequalities for the cases with time delays in both the output and input and with output delay only. Constructive design algorithms are introduced. Numerical examples are provided to illustrate the design procedure, practicality and effectiveness of the proposed observer.

Blind channel estimation and signal retrieving for MIMO relay systems

In this paper, we propose a blind channel estimation and signal retrieving algorithm for two-hop multiple-input multiple-output (MIMO) relay systems. This new algorithm integrates two blind source separation (BSS) methods to estimate the individual channel state information (CSI) of the source-relay and relay-destination links. In particular, a first-order Z-domain precoding technique is developed for the blind estimation of the relay-destination channel matrix, where the signals received at the relay node are pre-processed by a set of precoders before being transmitted to the destination node. With the estimated signals at the relay node, we propose an algorithm based on the constant modulus and signal mutual information properties to estimate the source-relay channel matrix. Compared with training-based MIMO relay channel estimation approaches, the proposed algorithm has a better bandwidth efficiency as no bandwidth is wasted for sending the training sequences. Numerical examples are shown to demonstrate the performance of the proposed algorithm.

Blind equalization of nonirreducible systems using the CM criterion

We address the blind equalization of finite-impulse-response (FIR) and multiple-input multiple-output (MIMO) channel systems excited by constant modulus (CM) signals. It is known that the algorithms based on the CM criterion can equalize an FIR MIMO system that is irreducible. The irreducible condition is restrictive as it requires all source signals to be received at sensors simultaneously. In this paper, we further show that the CM property of signals can be exploited to construct a zero-forcing equalizer for a system that is nonirreducible. Simulation examples demonstrate the proposed result.

Stability theory and numerical analysis of non-autonomous dynamical systems

The development and use of cocycles for analysis of non-autonomous behaviour is a technique that has been known for several years. Initially developed as an extension to semi-group theory for studying rion-autonornous behaviour, it was extensively used in analysing random dynamical systems [2, 9, 10, 12]. Many of the results regarding asymptotic behaviour developed for random dynamical systems, including the concept of cocycle attractors were successfully transferred and reinterpreted for deterministic non-autonomous systems primarily by P. Kloeden and B. Schmalfuss [20, 21, 28, 29]. The theory concerning cocycle attractors was later developed in various contexts specific to particular classes of dynamical systems [6, 7, 13], although a comprehensive understanding of cocycle attractors (redefined as pullback attractors within this thesis) and their role in the stability of non-autonomous dynamical systems was still at this stage incomplete. It was this purpose that motivated Chapters 1-3 to define and formalise the concept of stability within non-autonomous dynamical systems. The approach taken incorporates the elements of classical asymptotic theory, and refines the notion of pullback attraction with further development towards a study of pull-back stability arid pullback asymptotic stability. In a comprehensive manner, it clearly establishes both pullback and forward (classical) stability theory as fundamentally unique and essential components of non-autonomous stability. Many of the introductory theorems and examples highlight the key properties arid differences between pullback and forward stability. The theory also cohesively retains all the properties of classical asymptotic stability theory in an autonomous environment. These chapters are intended as a fundamental framework from which further research in the various fields of non-autonomous dynamical systems may be extended. A preliminary version of a Lyapunov-like theory that characterises pullback attraction is created as a tool for examining non-autonomous behaviour in Chapter 5. The nature of its usefulness however is at this stage restricted to the converse theorem of asymptotic stability. Chapter 7 introduces the theory of Loci Dynamics. A transformation is made to an alternative dynamical system where forward asymptotic (classical asymptotic) behaviour characterises pullback attraction to a particular point in the original dynamical system. This has the advantage in that certain conventional techniques for a forward analysis may be applied. The remainder of the thesis, Chapters 4, 6 and Section 7.3, investigates the effects of perturbations and discretisations on non-autonomous dynamical systems known to possess structures that exhibit some form of stability or attraction. Chapter 4 investigates autonomous systems with semi-group attractors, that have been non-autonomously perturbed, whilst Chapter 6 observes the effects of discretisation on non-autonomous dynamical systems that exhibit properties of forward asymptotic stability. Chapter 7 explores the same problem of discretisation, but for pullback asymptotically stable systems. The theory of Loci Dynamics is used to analyse the nature of the discretisation, but establishment of results directly analogous to those discovered in Chapter 6 is shown to be unachievable. Instead a case by case analysis is provided for specific classes of dynamical systems, for which the results generate a numerical approximation of the pullback attraction in the original continuous dynamical system. The nature of the results regarding discretisation provide a non-autonomous extension to the work initiated by A. Stuart and J. Humphries [34, 35] for the numerical approximation of semi-group attractors within autonomous systems. . Of particular importance is the effect on the system's asymptotic behaviour over non-finite intervals of discretisation.

Input and output analysis of complex conveyor networks

Material transfer networks are at the heart of critical infrastructure in many modern service and manufacturing industries. This research identified key performance measures, while deriving generalised analysis methodologies, for simulation models. The technology was validated for international airports, and used to determine operational capacity constraints under varied demand conditions.

Suitability of chlorine bulk decay models for planning and management of water distribution systems

Effective disinfection planning and management in large, complex water distribution systems requires an accurate network water quality model. This model should be based on reaction kinetics, which describes disinfectant loss from bulk water over time, within experimental error. Models in the literature were reviewed for their ability to meet this requirement in real networks. Essential features were identified as accuracy, simplicity, computational efficiency, and ability to describe consistently the effects of initial chlorine dose, temperature variation, and successive rechlorinations. A reaction scheme of two organic constituents reacting with free chlorine was found to be necessary and sufficient to provide the required features. Recent release of the multispecies extension (MSX) to EPANET and MWH Soft's H2OMap Water MSX network software enables users to implement this and other multiple-reactant bulk decay models in real system simulations.

Robust channel estimation algorithm for dual-hop MIMO relay channels

In conventional two-phase channel estimation algorithms for dual-hop multiple-input multiple-output (MIMO) relay systems, the relay-destination channel estimated in the first phase is used for the source-relay channel estimation in the second phase. For these algorithms, the mismatch between the estimated and the true relay-destination channel affects the accuracy of the source-relay channel estimation. In this paper, we investigate the impact of such channel state information (CSI) mismatch on the performance of the two-phase channel estimation algorithm. By explicitly taking into account the CSI mismatch, we develop a robust algorithm to estimate the source-relay channel. Numerical examples demonstrate the improved performance of the proposed algorithm. © 2012 IEEE.

Blind estimation of MIMO relay channels

In this paper, we integrate two blind source separation (BSS) methods to estimate the individual channel state information (CSI) for the source-relay and relay-destination links of three-node two-hop multiple-input multiple-output (MIMO) relay systems. In particular, we propose a first-order Z-domain precoding technique for the blind estimation of the relay-destination channel matrix, while an algorithm based on the constant modulus and mutual information properties is developed to estimate the source-relay channel matrix. Compared with training-based MIMO relay channel estimation approaches, our algorithm has a better bandwidth efficiency as no bandwidth is wasted for sending the training sequences. Numerical examples are shown to demonstrate the performance of the proposed algorithm. © 2014 IEEE.

Reconstruction of in vivo time-evolving neuroendocrine dose - response properties unveils admixed deterministic and stochastic elements

Homeostasis in the intact organism is achieved implicitly by repeated incremental feedback (inhibitory) and feedforward (stimulatory) adjustments enforced via intermittent signal exchange. In separated systems, neurohormone signals act deterministically on target cells via quantifiable effector-response functions. On the other hand, in vivo interglandular signaling dynamics have not been estimable to date. Indeed, experimentally isolating components of an interactive network definitionally disrupts time-sensitive linkages. We implement and validate analytical reconstruction of endogenous effector-response properties via a composite model comprising (i) a deterministic basic feedback and feedforward ensemble structure; (ii) judicious statistical allowance for possible stochastic variability in individual biologically interpretable dose–response properties; and (iii) the sole data requirement of serially observed concentrations of a paired signal (input) and response (output). Application of this analytical strategy to a prototypical neuroendocrine axis in the conscious uninjected horse, sheep, and human (i) illustrates probabilistic estimation of endogenous effector dose–response properties; and (ii) unmasks statistically vivid (2- to 5-fold) random fluctuations in inferred target-gland responsivity within any given pulse train. In conclusion, balanced mathematical formalism allows one to (i) reconstruct deterministic properties of interglandular signaling in the intact mammal and (ii) quantify apparent signal-response variability over short time scales in vivo. The present proof-of-principle experiments introduce a previously undescribed means to estimate time-evolving signal-response relationships without isotope infusion or pathway disruption.

Email and knowledge creation: supporting inquiring systems and enhancing wisdom

The real promise of organizational communication technologies may lie in their potential to facilitate participative discourse between knowledge workers at all levels in distributed locations and time zones. Such discourse enables the exchange of sometimes conflicting viewpoints through which resolution and symbiosis, organizational knowledge can be built. This chapter presents a case study of a Singerian inquiring organization which illustrates how afluid dynamic community of employees can use email to build knowledge, learn, make decisions, and enhance wisdom through a cycle of knowledge combination (divergence) and knowledge qualification (convergence). The chapter offers new theoretical perspectives on the enhancement of wisdom in inquiring organizations and provides practical insights into the use of email for supporting effective knowledge creation in inquiring organizations.