Nonholonomic Mobile Robot Trajectory Tracking using Hybrid Controller

ABSTRACT A control scheme is being presented for the trajectory tracking of a nonholonomic kinematic model of mobile robots. As a kinematic model of mobile robots is nonlinear in nature, therefore, it is controlling is always being a difficult task. Thus, a control hybrid scheme comprises of fuzzy logic and PID (Proportional Integral Derivative) is being proposed, in which adaptive gains of PID controller is being tuned by a fuzzy logic controller. Moreover, the effectiveness of this innovative technique is also proved using the simulations by adding model uncertainties and external disturbances in the system. Besides, the fuzzy logic control system is also being compared by the proposed control system. Resultsattained shows that the fuzzy based PID controller drivesimproved results than fuzzy logic controller

Interaction-Driven Self-adaptation of Service Ensembles

Abstract. The emergence of large-scale online collaboration requires current information systems to be apprehended as service ensembles comprising human and software service entities. The software services in such systems cannot adapt to user needs based on autonomous principles alone. Instead system requirements need to reflect global interaction characteristics that arise from the overall collaborative effort. Interaction monitoring and analysis, therefore, must become a central aspect of system self-adaptation. We propose to dynamically evaluate and update system requirements based on interaction characteristics. Subsequent reconfiguration and replacement of services enables the ensemble to mature in parallel with the evolution of its user community. We evaluate our approach in a case study focusing on adaptive storage services.

Fuzzy multicriteria analysis and its applications for decision making under uncertainty

Multicriteria decision making refers to selecting or ranking alternatives from available alternatives with respect to multiple, usually conflicting criteria involving either a single decision maker or multiple decision makers. It often takes place in an environment where the information available is uncertain, subjective and imprecise. To adequately solve this decision problem, the application of fuzzy sets theory for adequately modelling the uncertainty and imprecision in multicriteria decision making has proven to be effective. Much research has been done on the development of various fuzzy multicriteria analysis approaches for effectively solving the multicriteria decision making problem, and numerous applications have been reported in the literature. In general, existing approaches can be categorized into (a) multicriteria decision making with a single decision maker and (b) multicriteria group decision making. Existing approaches, however, are not totally satisfactory due to various shortcomings that they suffer from including (a) the inability to adequately model the uncertainty and imprecision of human decision making, (b) the failure to effectively handle the requirements of decision maker(s), (c) the tedious mathematical computation required, and (d) cognitively very demanding on the decision maker(s). This research has developed four novel approaches for effectively solving the multicriteria decision making problem under uncertainty. To effectively reduce the cognitive demand on the decision maker, a pairwise comparison based approach is developed in Chapter 4 for solving the multicriteria problem under uncertainty. To adequately meet the interest of various stakeholders in the multicriteria decision making process, a decision support system (DSS) based approach is introduced in Chapter 5. In Chapter 6, a consensus oriented approach is presented in multicriteria group decision making on which a DSS is proposed for facilitating consensus building in solving the multicriteria group decision making problem. In Chapter 7, a risk-oriented approach is developed for adequately modelling the inherent risk in multicriteria group decision making with the use of the concept of ideal solutions so that the complex and unreliable process of comparing fuzzy utilities usually required in fuzzy multicriteria analysis is avoided. Empirical studies of four real fuzzy multicriteria decision making problems are presented for illustrating the applicability of the approaches developed in solving the multicriteria decision making problem. A hospital location selection problem is discussed in Chapter 8. An international distribution centre location problem is illustrated in Chapter 9. A supplier selection problem is presented in Chapter 10. A hotel location problem is discussed in Chapter 11. These studies have shown the distinct advantages of the approaches developed respectively in this research from different perspectives in solving the multicriteria decision making problem