Finite-time coordination in multiagent systems using sliding mode control approach

Finite-time stability in dynamical systems theory involves systems whose trajectories converge to an equilibrium state in finite time. In this paper, we use the notion of finite-time stability to apply it to the problem of coordinated motion in multiagent systems. Specifically, we consider a group of agents described by fully actuated Euler–Lagrange dynamics along with a leader agent with an objective to reach and maintain a desired formation characterized by steady-state distances between the neighboring agents in finite time. We use graph theoretic notions to characterize communication topology in the network determined by the information flow directions and captured by the graph Laplacian matrix. Furthermore, using sliding mode control approach, we design decentralized control inputs for individual agents that use only data from the neighboring agents which directly communicate their state information to the current agent in order to drive the current agent to the desired steady state. Sliding mode control is known to drive the system states to the sliding surface in finite time. The key feature of our approach is in the design of non-smooth sliding surfaces such that, while on the sliding surface, the error states converge to the origin in finite time, thus ensuring finite-time coordination among the agents in the network. In addition, we discuss the case of switching communication topologies in multiagent systems. Finally, we show the efficacy of our theoretical results using an example of a multiagent system involving planar double integrator agents.     

Accelerated iterative methods for finding solutions of nonlinear equations and their dynamical behavior

In this paper, we present a family of optimal, in the sense of Kung–Traub’s conjecture, iterative methods for solving nonlinear equations with eighth-order convergence. Our methods are based on Chun’s fourth-order method. We use the Ostrowski’s efficiency index and several numerical tests in order to compare the new methods with other known eighth-order ones. We also extend this comparison to the dynamical study of the different methods.     

Fuzzy logic controller and cascade inverter for direct torque control of IM

In this paper, a five-level cascaded H-bridge multilevel inverters topology is applied on induction motor control known as direct torque control (DTC) strategy. More inverter states can be generated by a five-level inverter which improves voltage selection capability. This paper also introduces two different control methods to select the appropriate output voltage vector for reducing the torque and flux error to zero. The first is based on the conventional DTC scheme using a pair of hysteresis comparators and look up table to select the output voltage vector for controlling the torque and flux. The second is based on a new fuzzy logic controller using Sugeno as the inference method to select the output voltage vector by replacing the hysteresis comparators and lookup table in the conventional DTC, to which the results show more reduction in torque ripple and feasibility of smooth stator current. By using Matlab/Simulink, it is verified that using five-level inverter in DTC drive can reduce the torque ripple in comparison with conventional DTC, and further torque ripple reduction is obtained by applying fuzzy logic controller. The simulation results have also verified that using a fuzzy controller instead of a hysteresis controller has resulted in reduction in the flux ripples significantly as well as reduces the total harmonic distortion of the stator current to below 4 %.     

Synthesis and characterization of hydrophilic nanocomposite coating on glass substrate

Hydrophilic coatings based on 3‐glicidoxy propyl trimethoxy silane (GPTMS) and polyethylene glycol (PEG) were prepared with the incorporation of tetramethoxysilane (TMOS) and silica nanoparticle colloidal suspension by a sol–gel process. Characterization of the coatings has been performed by Fourier Transform Infrared (FTIR) and Attenuated Total Reflectance Infrared (ATR‐IR) techniques. Morphological properties were characterized by Scanning Electron Microscopy (SEM). The distribution of Si atoms in the hybrid system was obtained by Si mapping. The particle size in sol solution of the coating was measured by light scattering analyzer. Optical properties were characterized by using UV–vis spectrophotometer. The hydrophilicity of the coating was determined by contact angle measurements, and also the results have been confirmed by surface energy and water uptake investigations. The obtained results indicate that the surfactants affected the contact angles remarkably but did not change the transparency. It has been found that applying silica nano particles leads to coatings with different properties than those using TMOS, while siloxane contents were the same in these two set of coatings. © 2006 Wiley Periodicals, Inc. J Appl Polym Sci 102: 5322–5329, 2006     

Preparation and characterization of poly(vinyl alcohol)/gum tragacanth/cellulose nanocomposite film

The effects of gum tragacanth obtained from two species of Astragalus Gossypinus (GT-G) and A. Parrowianus (GT-P) at two levels of 10% and 30% combined with cellulose nanofibers (CNF; 5%) on the physico-mechanical and structural properties of polyvinyl alcohol (PVA) nanocomposite film were investigated in this study. The water solubility and water vapor permeability of the films decreased with increasing the content of both gums, especially in the film containing 30% GT-P. The highest values of the tensile strength (39.3 MPa) and elongation at break (445%) belonged to the treatment containing 10% GT-P (90/10P/0). The FTIR and DSC analyses confirmed good interactions between GT and PVA in the 90/10P/0 treatment. SEM images indicated the dense structure of this film as the optimum treatment. Although the presence of CNF in the films containing GT-G improved some properties, especially the Young modulus, it impaired all the functional properties of nanocomposite GT-P film.     

Homotopy perturbation method for motion of a spherical solid particle in plane couette fluid flow

He’s homotopy perturbation method is applied to obtain exact analytical solutions for the motion of a spherical particle in a plane couette flow. It is demonstrated that the applied analytical method is very straightforward in comparison with existing techniques. Furthermore, it is decidedly effectual in terms of accuracy and rapid convergence. The formulation of the problem is presented in the text as well as the analytical and numerical procedures. The current results can be used in different areas of particulate flows.     

Analysis and forecasting of IPO underpricing

Probability of withdrawal is a feature of initial public offering (IPOs), which can be an important parameter in decisions of investors and issuers. Considering the probability of offering withdrawal facilitates more precise estimation of underpricing. In this paper, the effective factors on probability of IPO withdrawal and underpricing in Tehran Stock Exchange have been characterized using regression, and then neural network is applied to estimate the probability of IPO withdrawal and underpricing. To evaluate the performance of our applied method, fuzzy regression is employed and compared with neural network. According to the obtained empirical results, neural network demonstrates better accuracy than fuzzy regression. The results indicate that there is a meaningful relationship between underpricing and probability of withdrawal, and the probability of IPO withdrawal plays an important role in precise evaluation of underpricing.