Robust fault-tolerant leader-follower control of four-wheel-steering mobile robots using terminal sliding mode

This paper addresses the actuator failure compensation problem of non-linear fourwheel-steering mobile robots based on vehicle kinematics, undergoing both known and unknown failures causing degenerated steering performance or wheels stuck at some observable angles. Terminal sliding mode control technique is used to guarantee the tracking stability infinite time with the presence of actuator fault. Simulation results are given to illustrate the effectiveness of the proposed control scheme. © Institution of Engineers Australia 2012.

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.

Automotive can network response time analysis with variable jitter

Many methods to calculate message latencies for Controller Area Network (CAN) have previously been presented based upon the static worst-case behaviour of the system. With the use of modern simulation tools however, the behaviour of CAN networks can be simulated dynamically in order to find the likely worst-case response times for CAN messages. This paper shows the development of an automotive body control network model to be used as the basis for further simulations. A method to simulate the Worst-Case Response Time of this model is then presented, taking into account random queuing jitter.

Observer-based control of multi-agent systems under decentralized information structure

This paper addresses the problem of decentralized implementation of a global state feedback controller for multi-agent systems. The system is assumed to be under the constraint of a complete decentralized information structure. The decentralization of the control task is achieved through the construction of low-order decentralized functional observers with the purpose of generating the required corresponding control signal for each local control station. A design procedure is developed for obtaining an approximate solution to the design of the observers. Stability analysis is provided for the global system using the proposed observer-based approach. A numerical example is given to illustrate the design procedure and cases when the observers' order increases from the lowest value.

Eccentricity and hardness control in cold rolling mills with a dynamically constructed neural controller

The main objective of a steel strip rolling process is to produce high quality steel at a desired thickness.  Thickness reduction is the result of the speed difference between the incoming and the outgoing steel strip and the application of the large normal forces via the backup and the work rolls.  Gauge control of a cold rolled steel strip is achieved using the gaugemeter principle that works adequately for the input gauge changes and the strip hardness changes.  However, the compensation of some factors is problematic, for example, eccentricity of the backup rolls.  This cyclic eccentricity effect causes a gauge deviation, but more importantly, a signal is passed to the gap position control so to increase the eccentricity deviation.  Consequently, the required high product tolerances are severely limited by the presence of the roll eccentricity effects.
In this paper a direct model reference adaptive control (MRAC) scheme with dynamically constructed neural controller was used.  The aim here is to find the simplest controller structure capable of achieving an optimal performance.  The stability of the adaptive neural control scheme (i.e. the requirement of persistency of excitation and bounded learning rates) is addressed by using as the inputs to the reference model the plant's state variables.  In such a case, excitation is due to actual plant signals (states) affected by plant disturbances and noise.  In addition, a reference model in the form of a filter with a desired transfer function using Modulus Optimum design was used to ensure variance in the desired dynamic characteristics of the system.  The gradually decreasing learning rate employed by the neural controller in this paper is aimed at eliminating controller instability resulting from over-aggressive control.  The moving target problem (i.e. the difficulty of global neural networks to perfrom several separate computational tasks in closed -loop control) is addressed by the localized architecture of the controller.  The above control scheme and learning algorithm offers a method for automatic discovery of an efficient controller.
The resulting neural controller produces an excellent disturbance rejection in both cases of eccentricity and hardness disturbances, reducing the gauge deviation due to eccentricity disturbance from 33.36% to 4.57% on average, and the gauge deviation due to hardness disturbance from 12.59% to 2.08%.

Ownership structure and corporate performance : Australian evidence

This paper seeks to analyse the relationship between ownership structure and corporate performance for fifty firms listed on the Australian Stock Exchange during 2002-2003. The study initially tests a two equation model similar to that in the existing literature, but is distinguished from prior literature by subsequently reclassifying leverage. By categorising leverage as an endogenous variable, an examination of the relationship between ownership and performance is undertaken through ordinary least squares and two stage least squares analysis of a three equation econometric model. Interestingly, empirical results illustrate the fact that managerial ownership impacts negatively on firm performance which is consistent with the management entrenchment hypothesis.

Fuzzy neural networks for control of dynamic systems

This thesis provides a unified and comprehensive treatment of the fuzzy neural networks as the intelligent controllers. This work has been motivated by a need to develop the solid control methodologies capable of coping with the complexity, the nonlinearity, the interactions, and the time variance of the processes under control. In addition, the dynamic behavior of such processes is strongly influenced by the disturbances and the noise, and such processes are characterized by a large degree of uncertainty. Therefore, it is important to integrate an intelligent component to increase the control system ability to extract the functional relationships from the process and to change such relationships to improve the control precision, that is, to display the learning and the reasoning abilities. The objective of this thesis was to develop a self-organizing learning controller for above processes by using a combination of the fuzzy logic and the neural networks. An on-line, direct fuzzy neural controller using the process input-output measurement data and the reference model with both structural and parameter tuning has been developed to fulfill the above objective. A number of practical issues were considered. This includes the dynamic construction of the controller in order to alleviate the bias/variance dilemma, the universal approximation property, and the requirements of the locality and the linearity in the parameters. Several important issues in the intelligent control were also considered such as the overall control scheme, the requirement of the persistency of excitation and the bounded learning rates of the controller for the overall closed loop stability. Other important issues considered in this thesis include the dependence of the generalization ability and the optimization methods on the data distribution, and the requirements for the on-line learning and the feedback structure of the controller. Fuzzy inference specific issues such as the influence of the choice of the defuzzification method, T-norm operator and the membership function on the overall performance of the controller were also discussed. In addition, the e-completeness requirement and the use of the fuzzy similarity measure were also investigated. Main emphasis of the thesis has been on the applications to the real-world problems such as the industrial process control. The applicability of the proposed method has been demonstrated through the empirical studies on several real-world control problems of industrial complexity. This includes the temperature and the number-average molecular weight control in the continuous stirred tank polymerization reactor, and the torsional vibration, the eccentricity, the hardness and the thickness control in the cold rolling mills. Compared to the traditional linear controllers and the dynamically constructed neural network, the proposed fuzzy neural controller shows the highest promise as an effective approach to such nonlinear multi-variable control problems with the strong influence of the disturbances and the noise on the dynamic process behavior. In addition, the applicability of the proposed method beyond the strictly control area has also been investigated, in particular to the data mining and the knowledge elicitation. When compared to the decision tree method and the pruned neural network method for the data mining, the proposed fuzzy neural network is able to achieve a comparable accuracy with a more compact set of rules. In addition, the performance of the proposed fuzzy neural network is much better for the classes with the low occurrences in the data set compared to the decision tree method. Thus, the proposed fuzzy neural network may be very useful in situations where the important information is contained in a small fraction of the available data.

Corporate governance structure and firm performance : empirical evidence from Brusa Malaysia, Kuala Lumper

The issue of corporate governance has been emerging as important phenomena that has been searched extensively both in developed countries due to its strategic impact on the monitoring of management activities and firms’ performance. Yet little attempt has been made in developing countries like Malaysia to ascertain what constitute corporate governance and its impact on firm's performance. Therefore, this study aims at examining the structure of the corporate governance and its impact on firm’s performance. This study is based on 100 firms, which are the component of the Composite Index (CI) serve as market barometer. This study employs cross-sectional annual multiple regression model to examine, what constitutes the corporate governance structure and its impact on performance of the firm. The analysis was based on annual regression over 5 years period from 1997 through 2001. Three different blend of surrogate for corporate governance were developed for good corporate governance structure. These are the independent non-executive (outside) directors, audit committee and remuneration committee. To isolate the size effect from the impact of corporate governance structure on firm’s performance, firm’s size was also included are variable in the model. The ratio of net income before tax to total asset is used as a surrogate for firm’s performance. Evidence from the study indicates that there is partial relation between corporate governance structure and corporate performance. The presence of both audit and remuneration committee serves as an important monitoring device to control management activities that lead to increase firm's performance. While on average, the presence of independent nonexecutive directors does not provide any significant explanation for the firm's performance. However, the firm size appears to have significant impact on corporate performance.

Selection of working correlation structure and best model in GEE analyses of longitudinal data

The Generalized Estimating Equations (GEE) method is one of the most commonly used statistical methods for the analysis of longitudinal data in epidemiological studies. A working correlation structure for the repeated measures of the outcome variable of a subject needs to be specified by this method. However, statistical criteria for selecting the best correlation structure and the best subset of explanatory variables in GEE are only available recently because the GEE method is developed on the basis of quasi-likelihood theory. Maximum likelihood based model selection methods, such as the widely used Akaike Information Criterion (AIC), are not applicable to GEE directly. Pan (2001) proposed a selection method called QIC which can be used to select the best correlation structure and the best subset of explanatory variables. Based on the QIC method, we developed a computing program to calculate the QIC value for a range of different distributions, link functions and correlation structures. This program was written in Stata software. In this article, we introduce this program and demonstrate how to use it to select the most parsimonious model in GEE analyses of longitudinal data through several representative examples.

Backward modelling and look-ahead fuzzy energy management controller for a parallel hybrid vehicle

This paper focuses on a parallel hybrid electric vehicle. It first develops a model for the vehicle using the backward-looking approach where the flow of energy starts from wheels and spreads towards engine and electric motor. Next, a fuzzy logic-based strategy is developed to control the operation of the vehicle. The objectives of the controller include managing the energy flow from engine and electric motor, controlling transmission ratio, adjusting speed, and sustaining battery's state of charge. The controller examines current vehicle speed, demand torque, slope difference, state of charge of battery, and engine and electric motor rotation speeds. Then, it determines the best values for continuous variable transmission ratio, speed, and torque. A slope window scheme is also developed to take into account the look-ahead slope information and determine the best vehicle speed for better fuel economy. The developed model and control strategy are simulated. The simulation results are presented and discussed. It is shown that the use of the proposed fuzzy controller reduces fuel consumption.

Latent variable models of need for uniqueness

The theory of uniqueness has been invoked to explain attitudinal and behavioral nonconformity with respect to peer-group, social-cultural, and statistical norms, as well as the development of a distinctive view of self via seeking novelty goods, adopting new products, acquiring scarce commodities, and amassing material possessions. Present research endeavors in psychology and consumer behavior are inhibited by uncertainty regarding the psychometric properties of the Need for Uniqueness Scale, the primary instrument for measuring individual differences in uniqueness motivation. In an important step toward facilitating research on uniqueness motivation, we used confirmatory factor analysis to evaluate three a priori latent variable models of responses to the Need for Uniqueness Scale. Among the a priori models, an oblique three-factor model best accounted for commonality among items. Exploratory factor analysis followed by estimation of unrestricted three- and four-factor models revealed that a model with a complex pattern of loadings on four modestly correlated factors may best explain the latent structure of the Need for Uniqueness Scale. Additional analyses evaluated the associations among the three a priori factors and an array of individual differences. Results of those analyses indicated the need to distinguish among facets of the uniqueness motive in behavioral research.

Determinants of capital structure of A-REITS and the global financial crisis

This paper contributes to the capital structure literature by investigating the determinants of capital structure of Australian Real Estate Investment Trusts (A-REITs) over the period 2006-2009. By using a panel approach and a Global Financial Crisis (GFC) dummy variable, our analysis incorporates the Global Financial Crisis (GFC) shock which appears to have affected the market after December 2007. We find that A-REIT size, profitability, tangibility, operating risk and number of growth opportunities impact similarly to many previous studies of international entities upon the degree of leverage. We also find mixed support for prevailing capital structure theories of Pecking Order, Trade-off and Agency Theory, but find that Market Timing Theory can be rejected over our sample period. With specific focus after onset of the GFC, we find that the relationship between capital structure and our independent variables is somewhat distorted. Consequently, the postulations of theory also become distorted whereby changes to capital structure come about because of the primary goal to survive, rather than managerial opportunism.

An interactive genetic algorithm approach to MMIC low noise amplifier design using a layered encoding structure

In this paper, an interactive genetic algorithm (IGA) approach is developed to optimize design variables for a monolithic microwave integrated circuit (MMIC) low noise amplifier. A layered encoding structure is employed to the problem representation in genetic algorithm to allow human intervention in the circuit design variable tuning process. The MMIC amplifier design is synthesized using the Agilent Advance Design System (ADS), and the IGA is proposed to tune the design variables in order to meet multiple constraints and objectives such as noise figure, current and simulated power gain. The developed IGA is compared with other optimization techniques from ADS. The results showed that the IGA performs better in achieving most of the involved objectives.

Sliding mode-like learning control for SISO complex systems with T-S fuzzy models

In this paper, a sliding mode-like learning control scheme is developed for a class of single input single output (SISO) complex systems. First, the Takagi-Sugeno (T-S) fuzzy modelling technique is employed to model the uncertain complex dynamical systems. Second, a sliding mode-like learning control is designed to drive the sliding variable to converge to the sliding surface, and the system states can then asymptotically converge to zero on the sliding surface. The advantages of this scheme are that: 1) the information about the uncertain system dynamics and the system model structure is not required for the design of the learning controller; 2) the closed-loop system behaves with a strong robustness with respect to uncertainties; 3) the control input is chattering-free. The sufficient conditions for the sliding mode-like learning control to stabilise the global fuzzy model are discussed in detail. A simulation example for the control of an inverted pendulum cart is presented to demonstrate the effectiveness of the proposed control scheme.