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In this paper, a robust trajectory tracking control for the underactuated quadrotor unmanned aerial vehicle (UAV) based on extended state observer(ESO) is proposed. In the presence of external disturbances and inner model parameter uncertainty, it guaranteed that the position and yaw angle could track the reference signal speedily and smoothly. According to the strict feedback architecture of the...
In the presence of scale, dynamism, uncertainty and elasticity, cloud software engineers faces several challenges when modeling Quality of Service (QoS) for cloud-based software services. These challenges can be best managed through self-adaptivity because engineers’ intervention is difficult, if not impossible, given the dynamic and uncertain QoS sensitivity to the environment and control knobs in...
Promoting self-aware autoscaling to intelligently handle the dynamics and uncertainty of changing workloads, configurations, and demands on resources at runtime can facilitate more scalable, elastic, and dependable cloud-based services.
Given the elasticity, dynamicity and on-demand nature of the cloud, cloud-based applications require dynamic models for Quality of Service (QoS), especially when the sensitivity of QoS tends to fluctuate at runtime. These models can be autonomically used by the cloud-based application to correctly self-adapt its QoS provision. We present a novel dynamic and self-adaptive sensitivity-aware QoS modeling...
This paper investigates the problem of tracking control of fully actuated surface vessels along a desired trajectory in the presence of time-varying hydrodynamic disturbances. The combination of approximation-based adaptive technique and interval type-2 fuzzy logic system allows the time-varying disturbances to be handled without explicit knowledge about the disturbance model. Through backstepping...
Observer also known as wave filter is an essential element of a dynamic positioning system. This paper presents an adaptive interval type-2 fuzzy logic observer for dynamic positioning of floating vessels under time-varying hydrodynamic disturbances. The combination of approximation-based adaptive technique and interval type-2 fuzzy logic system allows the time-varying disturbances to be handled without...
This paper presents an indirect adaptive type-2 fuzzy logic controller (FLC) as well as a direct adaptive type-2 FLC for tracking control of surface vessels under time-varying hydrodynamic disturbances. The combination of approximation-based adaptive control technique and type-2 fuzzy logic system (FLS) allows us to handle time-varying disturbances without exact information on them. The stability...
This paper presents an indirect adaptive type-2 fuzzy logic controller (FLC) for dynamic positioning (DP) vessels with attached thrusters under various time-varying hydrodynamic disturbances. Approximation-based adaptive control technique in combination with type-2 fuzzy logic system (FLS) is employed in the design of the control. The stability of the design is demonstrated through Lyapunov analysis...
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