Lyapunov based optimal control of a class of nonlinear systems

Optimal control of nonlinear systems is in fact difficult since it requires the solution to the Hamilton-Jacobi-Bellman (HJB) equation which has no closed-form solution. In contrast to offline and/or online iterative schemes for optimal control, this dissertation in the form of five papers focuses on the design of iteration free, online optimal adaptive controllers for nonlinear discrete and continuous-time systems whose dynamics are completely or partially unknown even when the states not measurable. Thus, in Paper I, motivated by homogeneous charge compression ignition (HCCI) engine dynamics, a neural network-based infinite horizon robust optimal controller is introduced for uncertain nonaffine nonlinear discrete-time systems. First, the nonaffine system is transformed into an affine-like representation while the resulting higher order terms are mitigated by using a robust term. The optimal adaptive controller for the affinelike system solves HJB equation and identifies the system dynamics provided a target set point is given. Since it is difficult to define the set point a priori in Paper II, an extremum seeking control loop is designed while maximizing an uncertain output function. On the other hand, Paper III focuses on the infinite horizon online optimal tracking control of known nonlinear continuous-time systems in strict feedback form by using state and output feedback by relaxing the initial admissible controller requirement. Paper IV applies the optimal controller from Paper III to an underactuated helicopter attitude and position tracking problem. In Paper V, the optimal control of nonlinear continuous-time systems in strict feedback form from Paper III is revisited by using state and output feedback when the internal dynamics are unknown. Closed-loop stability is demonstrated for all the controller designs developed in this dissertation by using Lyapunov analysis --Abstract, page iv

A study on the relationship between employee mental health and agility strategic readiness: A case study of Esfahan hospitals in Iran

This study investigates whether enhancing organizational agility and mental health of staff could increase strategic readiness for crises or not. In this study, descriptive statistics is used to present demographic data of the research, and P-Test is employed for analyzing the data. In addition, to examine research hypotheses, correlation coefficients and descriptive statistics are implemented. Finally, to rank the variables and indicators of the research, Friedman test and for comparison of indicators and components of the research, nonparametric Kruskal-Wallis test are used. The proposed study designs a questionnaire and The questionnaire and distributes it among some nurses in obstetrics and anesthesiology department and among supervisors. Cronbach's alpha is also employed for determining the reliability in this study. The results indicate that working conditions as well as employees’ mental health are in good conditions, the employees with higher levels of mental health have higher readiness to deal with potential crises, and the relationship between agility of hospitals and their strategic readiness for dealing with crises is confirmed

Multi-Agent Task Allocation in Complementary Teams: A Hunter and Gatherer Approach

Consider a dynamic task allocation problem, where tasks are unknowingly distributed over an environment. This paper considers each task comprised of two sequential subtasks: detection and completion, where each subtask can only be carried out by a certain type of agent. We address this problem using a novel nature-inspired approach called "hunter and gatherer". The proposed method employs two complementary teams of agents: one agile in detecting (hunters) and another skillful in completing (gatherers) the tasks. To minimize the collective cost of task accomplishments in a distributed manner, a game-theoretic solution is introduced to couple agents from complementary teams. We utilize market-based negotiation models to develop incentive-based decision-making algorithms relying on innovative notions of "certainty and uncertainty profit margins". The simulation results demonstrate that employing two complementary teams of hunters and gatherers can effectually improve the number of tasks completed by agents compared to conventional methods, while the collective cost of accomplishments is minimized. In addition, the stability and efficacy of the proposed solutions are studied using Nash equilibrium analysis and statistical analysis respectively. It is also numerically shown that the proposed solutions function fairly, i.e. for each type of agent, the overall workload is distributed equally.Comment: 15 pages, 12 figure

EXPLAINABLE MODELS FOR MULTIVARIATE TIME-SERIES DEFECT CLASSIFICATION OF ARC STUD WELDING

Arc Stud Welding (ASW) is widely used in many industries such as automotive and shipbuilding and is employed in building and jointing large-scale structures. While defective or imperfect welds rarely occur in production, even a single low-quality stud weld is the reason for scrapping the entire structure, financial loss and wasting time. Preventive machine learning-based solutions can be leveraged to minimize the loss. However, these approaches only provide predictions rather than demonstrating insights for characterizing defects and root cause analysis. In this work, an investigation on defect detection and classification to diagnose the possible leading causes of low-quality defects is proposed. Moreover, an explainable model to describe network predictions is explored. Initially, a dataset of multi-variate time-series of ASW utilizing measurement sensors in an experimental environment is generated. Next, a set of pre-possessing techniques are assessed. Finally, classification models are optimized by Bayesian black-box optimization methods to maximize their performance. Our best approach reaches an F1-score of 0.84 on the test set. Furthermore, an explainable model is employed to provide interpretations on per class feature attention of the model to extract sensor measurement contribution in detecting defects as well as its time attention

A Dynamic Territorializing Approach for Multiagent Task Allocation

In this paper, we propose a dynamic territorializing approach for the problem of distributing tasks among a group of robots. We consider the scenario in which a task comprises two subtasks—detection and completion; two complementary teams of agents, hunters and gatherers, are assigned for the subtasks. Hunters are assigned with the task of exploring the environment, i.e., detection, whereas gatherers are assigned with the latter subtask. To minimize the workload among the gatherers, the proposed algorithm utilizes the center of mass of the known targets to form territories among the gatherers. The concept of center of mass has been adopted because it simplifies the task of territorial optimization and allows the system to dynamically adapt to changes in the environment by adjusting the assigned partitions as more targets are discovered. In addition, we present a game-theoretic analysis to justify the agents’ reasoning mechanism to stay within their territory while completing the tasks. Moreover, simulation results are presented to analyze the performance of the proposed algorithm. First, we investigate how the performance of the proposed algorithm varies as the frequency of territorializing is varied. Then, we examine how the density of the tasks affects the performance of the algorithm. Finally, the effectiveness of the proposed algorithm is verified by comparing its performance against an alternative approach

Optimal Control of Nonlinear Continuous-Time Systems in Strict-Feedback Form

This paper proposes a novel optimal tracking control scheme for nonlinear continuous-time systems in strict-feedback form with uncertain dynamics. The optimal tracking problem is transformed into an equivalent optimal regulation problem through a feedforward adaptive control input that is generated by modifying the standard backstepping technique. Subsequently, a neural network-based optimal control scheme is introduced to estimate the cost, or value function, over an infinite horizon for the resulting nonlinear continuous-time systems in affine form when the internal dynamics are unknown. The estimated cost function is then used to obtain the optimal feedback control input; therefore, the overall optimal control input for the nonlinear continuous-time system in strict-feedback form includes the feedforward plus the optimal feedback terms. It is shown that the estimated cost function minimizes the Hamilton-Jacobi-Bellman estimation error in a forward-in-time manner without using any value or policy iterations. Finally, optimal output feedback control is introduced through the design of a suitable observer. Lyapunov theory is utilized to show the overall stability of the proposed schemes without requiring an initial admissible controller. Simulation examples are provided to validate the theoretical results