A fractional order proportional integral controller for path following and trajectory tracking of miniature air vehicles

In this paper, a fractional order proportional-integral controller is developed for a miniature air vehicle for rectilinear path following and trajectory tracking. The controller is implemented by constructing a vector field surrounding the path to be followed, which is then used to generate course commands for the miniature air vehicle. The fractional order proportional-integral controller is simulated using the fundamentals of fractional calculus, and the results for this controller are compared with those obtained for a proportional controller and a proportional integral controller. In order to analyze the performance of the controllers, four performance metrics, namely (maximum) overshoot, control effort, settling time and integral of the timed absolute error cost, have been selected. A comparison of the nominal as well as the robust performances of these controllers indicates that the fractional order proportional-integral controller exhibits the best performance in terms of ITAE while showing comparable performances in all other aspects.

Novel Biobjective Clustering (BiGC) Based on Cooperative Game Theory

We propose a new approach to clustering. Our idea is to map cluster formation to coalition formation in cooperative games, and to use the Shapley value of the patterns to identify clusters and cluster representatives. We show that the underlying game is convex and this leads to an efficient biobjective clustering algorithm that we call BiGC. The algorithm yields high-quality clustering with respect to average point-to-center distance (potential) as well as average intracluster point-to-point distance (scatter). We demonstrate the superiority of BiGC over state-of-the-art clustering algorithms (including the center based and the multiobjective techniques) through a detailed experimentation using standard cluster validity criteria on several benchmark data sets. We also show that BiGC satisfies key clustering properties such as order independence, scale invariance, and richness.

Two player game variant of the Erdos-Szekeres problem

The classical Erdos-Szekeres theorem states that a convex k-gon exists in every sufficiently large point set. This problem has been well studied and finding tight asymptotic bounds is considered a challenging open problem. Several variants of the Erdos-Szekeres problem have been posed and studied in the last two decades. The well studied variants include the empty convex k-gon problem, convex k-gon with specified number of interior points and the chromatic variant. In this paper, we introduce the following two player game variant of the Erdos-Szekeres problem: Consider a two player game where each player playing in alternate turns, place points in the plane. The objective of the game is to avoid the formation of the convex k-gon among the placed points. The game ends when a convex k-gon is formed and the player who placed the last point loses the game. In our paper we show a winning strategy for the player who plays second in the convex 5-gon game and the empty convex 5-gon game by considering convex layer configurations at each step. We prove that the game always ends in the 9th step by showing that the game reaches a specific set of configurations.

A controller design method for 3 phase 4 wire grid connected VSI with LCL filter

Closed loop control of a grid connected VSI requires line current control and dc bus voltage control. The closed loop system comprising PR current controller and grid connected VSI with LCL filter is a higher order system. Closed loop control gain expressions are therefore difficult to obtain directly for such systems. In this work a simplified approach has been adopted to find current and voltage controller gain expressions for a 3 phase 4 wire grid connected VSI with LCL filter. The closed loop system considered here utilises PR current controller in natural reference frame and PI controller for dc bus voltage control. Asymptotic frequency response plot and gain bandwidth requirements of the system have been used for current control and voltage controller design. A simplified lower order model, derived for closed loop current control, is used for the dc bus voltage controller design. The adopted design method has been verified through experiments by comparison of the time domain response.

Pricing and Power allocation in Femtocells using Stackelberg Game Theory

We consider a system with multiple Femtocells operating in a Macrocell. The transmissions in one Femtocell interfere with its neighboring Femtocells as well as with the Macrocell Base Station. We model Femtocells as selfish nodes and the Macrocell Base Station protects itself by pricing subchannels for each usage. We use Stackelberg game model to study this scenario and obtain equilibrium policies that satisfy certain quality of service.

Implementing with veto players: a simple non cooperative game

The paper adapts a non cooperative game presented by Dagan, Serrano and Volij (1997) for bankruptcy problems to the context of TU veto balanced games. We investigate the relationship between the Nash outcomes of a noncooperative game and solution concepts of cooperative games such as the nucleolus, kernel and the egalitarian core.