This paper presents a novel robust optimal control approach for attitude stabilization of a flexible spacecraft in the presence of external disturbances. An optimal control law is formulated by using concepts of inverse optimal control, proportional-integral-derivative control and a control Lyapunov function. A modified extended state observer is used to compensate for the total disturbances. High-gain and second order sliding mode algorithms are merged to obtain the proposed modified extended state observer. The second method of Lyapunov is used to demonstrate its properties including the convergence rate and ultimate boundedness of the estimation error. The proposed controller can stabilize the attitude control system and minimize a cost functional. Moreover, this controller achieves robustness against bounded external disturbances and the disturbances caused by the elastic vibration of flexible appendages. Numerical simulations are provided to demonstrate the performance of the developed controller.
In this paper, we consider and introduce methods for robust principal component analysis (PCA), including also cases where there are missing values in the data. PCA is a widely applied standard statistical method for data preprocessing, compression, and analysis. It is based on the second-order statistics of the data and is optimal for Gaussian data, but it is often applied to data sets having unknown or other types of probability distributions. PCA can be derived from minimization of the mean-square representation error or maximization of variances under orthonormality constraints. However, these quadratic criteria are sensitive to outliers in the data and long-tailed distributions, which may considerably degrade the results given by PCA. We introduce robust methods for estimation of both the PCA eigenvectors directly or the PCA subspace spanned by them. Experimental results show that our methods provide often better results than standard PCA when outliers are present in the data. Furthermore, we extend our methods to incomplete data with missing values. The problems arising in such cases have several features typical for nonlinear models.
The paper deals with the problem of obtaining a robust PI-D controller design procedure for linear time invariant descriptor uncertain polytopic systems using the regional pole placement and/or H2 criterion approach in the form of a quadratic cost function with the state, derivative state and plant input (QSR). In the frame of Lyapunov Linear Matrix Inequality (LMI) regional pole placement approach and/or H2 quadratic cost function based on Bellman-Lyapunov equation, the designed novel design procedure guarantees the robust properties of closed-loop system with parameter dependent quadratic stability/quadratic stability. In the obtained design procedure the designer could use controller with different structures such as P, PI, PID, PI-D. For the PI-D's D-part of controller feedback the designer could choose any available output/state derivative variables of descriptor systems. Obtained design procedure is in the form of Bilinear Matrix Inequality (BMI). The effectiveness of the obtained results is demonstrated on two examples.
The robust recursive algorithm for the parameter estimation and the volatility prediction in GARCH models is suggested. It seems to be useful for various financial time series, in particular for (high-frequency) log returns contaminated by additive outliers. The proposed procedure can be effective in the risk control and regulation when the prediction of volatility is the main concern since it is capable to distinguish and correct outlaid bursts of volatility. This conclusion is demonstrated by simulations and real data examples presented in the paper.
In this paper, a robust sampled-data observer is proposed for Lipschitz nonlinear systems. Under the minimum-phase condition, it is shown that there always exists a sampling period such that the estimation errors converge to zero for whatever large Lipschitz constant. The optimal sampling period can also be achieved by solving an optimal problem based on linear matrix inequalities (LMIs). The design methods are extended to Lipschitz nonlinear systems with large external disturbances as well. In such a case, the estimation errors converge to a small region of the origin. The size of the region can be small enough by selecting a proper parameter. Compared with the existing results, the design parameters can be easily obtained by solving LMIs.
In this paper we develop the theory of spring balance weighing designs with non-positive correlated errors for that the lower bound of the variance of estimated total weight is attained.
Ultrasonic velocity anisotropy in the rock provides information of variability of the dynamic elastic moduli. Young’s modulus and Poisson’s ratio calculated from waves velocities can be used to determine brittleness index, which is usually used to predict rock susceptibility for hydraulic fracturing. This paper describes laboratory ultrasonic measurements carried out in order to improve hydraulic fracturing designing. The research was conducted over two types of rock: shale and limestone. The samples were cut out perpendicularly and parallel to the bedding planes. Next they were tested for effective porosity and mineral composition using XRD method. Directionally depended seismic velocities revealed noticeable anisotropy of laminated shale, caused by orientation of the bedding planes and weak anisotropy of limestone. Based on the velocities, dynamic elastic moduli and its anisotropy coefficients were determined. Calculations of brittleness index based on Young’s modulus to Poisson’s ratio relation and three types of mineral composition brittleness indexes, revealed strong variability in brittleness for both kind of tested formations. These results show, that different types of brittleness indexes should be used complementary, to better describe fracability of the rock. and Moska Rafal, Kasza Piotr, Maslowski Mateusz.
Rock landforms in the Sokolský hřbet (ridge) and the adjacent Žulovská pahorkatina (hilly land) have been analysed through detailed field mapping at a scale of 1:10,000; subsequently the spatial distribution of these features was analysed using a DEM within a GIS framework. Particular attention was focused upon the shape of the rock landforms, their arrangement, the aspect of their walls, and their topographic position within the two adjacent geomorphological units. Rock landforms in the Sokolský hřbet include frost-riven cliffs, isolated residual rockforms, and blockfields in metamorphic rocks. In contrast, rock landforms in the Žulovská pahorkatina include rock steps and numerous tors exposed from the basal weathering surface. The Sokolský hřbet has been interpreted as a neotectonically uplifted mountainous region; the rock landforms described here are thought to have formed under periglacial conditions during cold periods in the Pleistocene, whilst the extensive granitoid block accumulations developed on marginal fault scarps are thought to result from the exposure of intensively disintegrated rocks due to uplift. Žulovská pahorkatina has been interpreted as a remodelled stripped etch surface, which has been twice glaciated during the Middle Pleistocene. The rock landforms in both units appear to be structurally and lithologically controlled; moreover, various shapes of granite rock landforms are controlled by various types of jointing and parting. The clear differences recognised in both the rock landforms and overall morphology reflects the considerable disparity associated with relief development between two adjacent morphostructural units; such variability provides evidence for a long polygenetic history within the entire study area., Petra Štěpančíková and Matt Rowberry., and Obsahuje bibliografii
Two experimental trials were performed to elucidate the role of rodents in the life cycle of Hepatozoon species using snakes as intermediate hosts. In one trial, two ball pythons, Python regius Shaw, 1802 were force fed livers of laboratory mice previously inoculated with sporocysts of Hepatozoon ayorgbor Sloboda, Kamler, Bulantová, Votýpka et Modrý, 2007. Transmission was successful in these experimentally infected snakes as evidenced by the appearance of intraerythrocytic gamonts, which persisted until the end of trial, 12 months after inoculation. Developmental stages of haemogregarines were not observed in histological sections from mice. In another experimental trial, a presence of haemogregarine DNA in mice inoculated with H. ayorgbor was demonstrated by PCR in the liver, lungs and spleen.