In this paper, an Anti-Disturbance Compensator is suggested for the stabilization of a 6-DoF quadrotor Unmanned Aerial vehicle (UAV) system, namely, the Improved Active Disturbance Rejection Control (IADRC). The proposed Control Scheme rejects the disturbances subjected to this system and eliminates the effect of the uncertainties that the quadrotor system exhibits. The complete nonlinear mathematical model of the 6-DoF quadrotor UAV system has been used to design the four ADRCs units for the attitude and altitude stabilization. Stability analysis has been demonstrated for the Linear Extended State Observer (LESO) of each IADRC unit and the overall closed-loop system using Hurwitz stability criterion. A minimization to a proposed multi-objective Output Performance Index (OPI) is achieved in the MATLAB environment to tune the IADRCs parameters using Genetic Algorithm (GA). The IADRC has been tested for the 6-DOF quadrotor under different tracking scenarios, including disturbance rejection and uncertainties elimination and compared with nonlinear and linear PID controllers. The simulations showed the excellent performance of the proposed compensator against the controllers used in the comparison.
In this paper, a four species mathematical models involving different types of ecological interactions is proposed and analyzed. Holling type – II functional response is a doubted to describes the behavior of predation. The existence, uniqueness and boundedness of the solution are discussed. The existences and the stability analysis of all possible equilibrium points are studied. suitable Lyapunov functions are used to study the global dynamics of the system. Numerical simulations are also carried out to investigate the influence of certain parameters on the dynamical behavior of the model, to support the analytical results of the model.
The general approach of this research is to assume that the small nonlinearity can be separated from the linear part of the equation of motion. The effect of the dynamic fluid force on the pump structure system is considered vibrates at its natural frequency but the amplitude is determined by the initial conditions. If the motion of the system tends to increase the energy of the pump structure system, the vibration amplitude will increase and the pump structure system is considered to be unstable. A suitable MATLAB program was used to predict the stability conditions of the pump structure vibration. The present research focuses on fluid pump problems, namely, the role played by damping coefficient C, damping factor
... Show MoreThe Emirati Labor Legislation is one of the most effective legislations in its response to the developments and variations of the labor market, an effectiveness attained through emphasizing the necessity of workers’ efficiency reinforcement and through conserving and supporting skilled labor. It is however necessary to maintain balance in labor relations, to achieve equal opportunities for workers, and to ensure their rights, especially the citizens. The United Arab Emirates is actively seeking to support national talent by applying the Emiratization Policy, which is one of the State’s most prioritized concerns. This Policy entails achieving a balance between the labor relations’ stability and meeting the labor market’s requireme
... Show MoreThe thermal stability of previously prepared tetraphenanthroporphyrazine (TPPH2) and its complexes with VO(IV) , Co(II) , Cu(II) , Zn(II) , Mg(II) , Ca (II) ions were studied by thermogravimetric analysis (TG & DTG) at temperature range (20-1000oC). The results indicated that these compounds have a high thermal stability comparable to those of phthalocyanine compounds (PC) and higher than those of hemiporphyrazine compounds (HP) . In general metal complexes were more stable than parent ligand . Data of magnetic susceptibility and electrical conductivity were also obtained as further support for the studied compoundes .
Measurement of stability constant of some complexes formed by (6-(2-amino-2-(4hydroxy phenyl)-acetamido)-3,3-dimethyl-7-oxo-4-thia-1-aza-bicyclo[3,2,0] heptanes-2carboxylic acid (Amoxicillin) with (Cr+3, Co+2, Ni+2, Cu+2,Ag+1, and Cd+2) ions, have been performed(Amoxicillin) was found to behave as bidentate ligand with ahardness parameter(α)of (0.46)and asoftness parameter(β)of (1.03) while complexes being formed were of (1:1)ratio.
In this paper, a mathematical model consisting of harmful phytoplankton and two competing zooplankton is proposed and studied. The existence of all possible equilibrium points is carried out. The dynamical behaviors of the model system around biologically feasible equilibrium points are studied. Suitable Lyapunov functions are used to construct the basins of attractions of those points. Conditions for which the proposed model persists are established. The occurrence of local bifurcation and a Hopf bifurcation are investigated. Finally, to confirm our obtained analytical results and specify the vital parameters, numerical simulations are used for a hypothetical set of parameter values.
Based on the density functional theory (DFT) , the stability of molecular complexes has been predicted according to hard-soft acid base (HSAB) theory. Relative stability of products and reactivity of soft base sulfide derivatives with halogens (Iodine , Bromine , Chlorine) as soft acid was studied to determine the relative ability of these reactants causing the reaction to be more spontaneous.
DFT at the levels of B3LYP/3-21G and B3LYP/3-21G (d) was used to study HOMO LUMO energy gaps , bonds length and total energy to calculate the softness sequence of each type of acid or base mentioned in this work. All cases studied prove that iodine can be considered as the most softness acid and ethyl methyl sulfide≈ dimethyl sulfide the most
In this paper, a discrete SIS epidemic model with immigrant and treatment effects is proposed. Stability analysis of the endemic equilibria and disease-free is presented. Numerical simulations are conformed the theoretical results, and it is illustrated how the immigrants, as well as treatment effects, change current model behavior
An ecological model consisting of prey-predator system involving the prey’s fear is proposed and studied. It is assumed that the predator species consumed the prey according to prey square root type of functional response. The existence, uniqueness and boundedness of the solution are examined. All the possible equilibrium points are determined. The stability analysis of these points is investigated along with the persistence of the system. The local bifurcation analysis is carried out. Finally, this paper is ended with a numerical simulation to understand the global dynamics of the system.
Permanent deformation (Rutting) of asphalt pavements which appears in many roads in Iraq, have caused a major impact on pavement performance by reducing the useful service life of pavement and creating services hazards for highway users. The main objective of this research is investigating the effect of some contributory factors related to permanent deformation of asphalt concrete mixture. To meet the objectives of this research, available local materials are used including asphalt binder, aggregates, mineral filler and modified asphalt binder. The Superpave mix design system was adopted with varying volumetric compositions. The Superpave Gyratory Compactor was used to compact 24 asphalt concrete cylindrical specimens. To collect t
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