In this paper we present an energy shaping control law for set-point regulation of the Chaplygin sleigh. It is well known that nonholonomic mechanical systems cannot be asymptotically stabilised using smooth control laws as they do no satisfy Brockett’s necessary condition for smooth stabilisation. Here, we propose a discontinuous control law that can be seen as a potential energy shaping and d...

We consider a seller who owns two capacity constrained resources and markets two products (components) corresponding to these resources as well as a bundle comprising the two components. In an environment where all customers agree that one of the two components is of higher quality than the other and that the bundle is of the highest quality, we derive the seller’s optimal bundling strategy. We...

this paper presents optimal control method to path planning of mobile robots with flexible joints. dynamic equations are derived and additional kinematic constraints are used to solve the extra dofs arose from base mobility. then with modeling the elasticity at each joint as a linear torsinal spring, the set of equations are formed. the hamiltonian function is formed and the necessary condition...

We develop a bicriteria model for the resource allocation problem in PERT networks, in which the total direct costs of the project as the first objective, and the mean of project completion time as the second objective are minimized. The activity durations are assumed to be independent random variables with either exponential or Erlang distributions, in which the mean of each activity duration ...

this paper introduces a technique for controlling a class of uncertain chaotic systems using an adaptive fuzzy proportional-integrator-derivative (pid) controller with h∞ tracking performance. the purpose of this work is to achieve optimal tracking performance of the controller using backtracking search algorithm (bsa). bsa, which is a novel heuristic algorithm, has an easy structure with singl...

In this article we found the solution of fuzzy linear controlled systemwith fuzzy initial conditions by using -cuts and presentation of numbersin a more compact form by moving to the eld of complex numbers. Next, afuzzy optimal control problem for a fuzzy system is considered to optimize theexpected value of a fuzzy objective function. Based on Pontryagin MaximumPrinciple, a constructive equati...

Heuristic optimization provides a robust and efficient approach for extracting approximate solutions of multi-objective problems because of their capability to evolve a set of non-dominated solutions distributed along the Pareto frontier. The convergence rate and suitable diversity of solutions are of great importance for multi-objective evolutionary algorithms. The focu...

economic development plans normally contain some policy objectives, especially for the most important macroeconomic variables. governments are expected to take best policies to achieve these objectives, although due to some structural or other impediments they may fail to touch the objectives. we have attempted to uncover the determinants of private consumption and investment as the objectives ...