A global output-feedback controller for stabilization and tracking of underactuated ODIN: A spherical underwater vehicle

This paper presents a method to design an output-feedback controller that simultaneously solves global asymptotic stabilization and tracking of an underactuated omni-directional intelligent navigator—a spherical underwater vehicle moving in a horizontal plane (i.e. at a constant depth). The vehicle does not have a sway actuator and has only position and orientation measurements available. The control development is based on Lyapunov's direct method, backstepping technique and use of interconnected structure of the vehicle dynamics. Numerical simulations demonstrate the results.     

Adaptive switching supervisory control of nonlinear systems with no prior knowledge of noise bounds

The problem of controlling nonlinear noisy systems affected by parametric uncertainties is approached via the introduction of a supervisor which, whenever needed, switches on, in feedback to the plant, a controller selected from a finite set of predesigned controllers. A Lyapunov-based falsification criterion allows one to ensure robust stability in the presence of uncertain constant parameters and exogenous bounded disturbances. Simulations are discussed in order to illustrate the merits of the proposed algorithms.     

Frequency domain identification of Wiener models

This paper proposes a frequency domain algorithm for Wiener model identifications based on exploring the fundamental frequency and harmonics generated by the unknown nonlinearity. The convergence of the algorithm is established in the presence of white noise. No a priori knowledge of the structure of the nonlinearity is required and the linear part can be nonparametric.     

Position synchronization of multiple motion axes with adaptive coupling control

A new control approach to position synchronization of multiple motion axes is developed, by incorporating cross-coupling technology into adaptive control architecture. The control strategy is to stabilize position tracking of each axis while synchronizing its motion with other axes’ motions so that differential position errors amongst axes converge to zero. The proposed adaptive controller and parameter estimator employ coupling control by feeding back position errors and differential position errors, and have been realized to guarantee asymptotic convergence to zero of both position and synchronization errors. Simulations conducted on a multi-axis motion control system demonstrate the effectiveness of the method.     

Application of Support Vector Machines in Assessing Conceptual Cost Estimates

Total conceptual cost estimates and the assessment of the quality of these estimates are critical in the early stages of a building construction project. In this study, the support vector machine (SVM) model for assessing the quality of conceptual cost estimates is proposed, and the application of SVM in construction areas is investigated. The results show that the SVM model assessed the quality of conceptual cost estimates slightly more accurately than the discriminant analysis model. This shows that using the SVM has potential in construction areas. In addition, the SVM model can assist clients in their evaluation of the quality of the estimated cost and the probability of exceeding the target cost, and in their decision on whether or not it is necessary to seek a more accurate estimate in the early stages of a project.     

Defining Yield from Bender Element Measurements in Triaxial Stress Probe Experiments

This paper describes the elastic response of a block sample of compressible Chicago glacial clay under a variety of stresses and its relationship with the deformation characteristics at relatively large strains. The elastic shear stiffness was obtained from bender element tests during consolidation and shearing in drained triaxial stress probe tests. An empirical correlation was established based on the elastic shear stiffness in a preyield condition. By comparing the empirical correlation with the measured elastic shear stiffness in the stress region during probing, the changes of elastic shear stiffness were investigated. The departure of elastic shear stiffness from values computed by the empirical relation based on K0 loading directly relates to the yielding characteristics of the clay. The large-scale change of soil structure at yielding alters the well-established relationship between the elastic shear stiffness and stresses in the preyield condition. The mechanical yielding response of clays can be detected based on the systematic analysis of the elastic shear wave velocities.     

Nonlinear model predictive control with polytopic invariant sets

Ellipsoidal invariant sets have been widely used as target sets in model predictive control (MPC). These sets can be computed by constructing appropriate linear difference inclusions together with additional constraints to ensure that the ellipsoid lies within a given inclusion polytope. The choice of inclusion polytope has a significant effect on the size of the target ellipsoid, but the optimal inclusion polytope cannot in general be computed systematically. This paper shows that use of polytopic invariant sets overcomes this difficulty, allowing larger stabilizable sets without loss of performance. In the interests of online efficiency, consideration is focused on interpolation-based MPC.