Assessment of the state of statutory regulation of departmental control

Subject. This article studies the current norms and rules enshrined in legislative acts and regulatory legal acts of executive authorities of various levels regulating departmental control in relation to State (municipal) institutions. Objectives. The article aims to assess the state of the regulatory framework in the field of organization and implementation of departmental control of financial and economic activities of State (municipal) institutions. It also aims to identify topical issues of statutory regulation of departmental control and outline possible directions for its development. Methods. For the study, I used the methods of analysis, grouping, comparison, and generalization. Results. Based on the study of legal acts regulating the models of financial control, management functions and powers of executive bodies in relation to subordinate State (municipal) institutions, the article identifies certain powers of the founder that require regulatory consolidation, and proposes a structure for the concept of departmental control. Conclusions. The article confirms the hypothesis of insufficient statutory regulation of departmental control of financial and economic activity of State (municipal) institutions and the need to develop a legislative document conceptually defining the control direction of the activities of executive authorities.

Eyeball Movement Detection To Control Smart Wheelchair Using Eye Aspect Ratio (EAR)

Many developed technology's with an aim of helping the disabilities. One of them is a wheelchair. It is the most common stuff that used for helping disabilities as a tool for mobilization. There are two types of wheelchair. The first is the manual wheelchair, operated by hand. The second is an electrical wheelchair, that operated by joystick or other electric device. This research proposed a mechanism to control the wheelchair by using an eye movement. It could be used especially for people with multiple disabilities (hand and foot defects), so they can take an advantage of their eyeballs as a tool to control wheelchair movement. There are five options for controlling the wheelchair (leftward, rightward, upward, downward and center). Leftward, rightward and center used for control direction of smart wheelchair. Furthermore, upward and downward of eye movements used to control the speed of smart wheelchair. Upward command used to increase the speed. Meanwhile, down-ward used to decrease the speed (stop). The proposed method used EAR (Eye Aspect Ratio), which divided into three regions based on sector area, for determining the directions of the eyeball movement. EAR is the value that represents the ratio between the upper eyelid and lower eyelid. The result obtained high accuracy

Adaptive tracking control for uncertain nonlinear systems subject to unknown control coefficients, state constraints, and input saturation

This article is committed to studying the tracking control problem for a class of uncertain nonlinear system with unknown control coefficients. The system is subject to full state constraints, input saturation constraint, and external disturbances simultaneously. By introducing a hyperbolic tangent function to approximate the saturated input function, the sharp corner caused by the input saturation is avoided. In the meanwhile, an auxiliary system is constructed to compensate the resulting approximation error. By using the barrier Lyapunov function (BLF) based adaptive backsteping control, the Nussbaum-type adaptive controllers are constructed for the augmented system with unknown control direction. It not only ensures the system states are always within the constrained range, but also guarantees the tracking performance of the system, no matter whether the control direction of the system is known or not. Meanwhile, dynamic surface control (DSC) is used in the controller design, which avoids ”computation explosion” caused by the repeated derivation of virtual control law. Aiming at the nonparametric uncertainty of the system, a common adaptive law is designed by combining the unknown constant bounds of the external disturbance with the error term caused by input saturation estimation. It improves the tracking performance of the system and reduces the burden of the controller greatly. Finally, a simulation example is given to demonstrate the effectiveness of the proposed control scheme in three scenarios.

Finite-Time Performance Guaranteed Event-Triggered Adaptive Control for Nonlinear Systems with Unknown Control Direction

This paper studies the issue of finite-time performance guaranteed event-triggered (ET) adaptive neural tracking control for strict-feedback nonlinear systems with unknown control direction. A novel finite-time performance function is first constructed to describe the prescribed tracking performance, and then a new lemma is given to show the differentiability and boundedness for the performance function, which is important for the verification of the closed-loop stability. Furthermore, with the help of the error transformation technique, the origin constrained tracking error is transformed into an equivalent unconstrained one. By utilizing the first-order sliding mode differentiator, the issue of ``explosion of complexity'' caused by the backstepping design is adequately addressed. Subsequently, an ingenious adaptive updated law is given to co-design the controller and the ET mechanism by the combination of the Nussbaum-type function, thus effectively handling the influences of the measurement error resulted from the ET mechanism and the challenge of the controller design caused by the unknown control direction. The presented event-triggered control scheme can not only guarantee the prescribed tracking performance, but also alleviate the communication burden simultaneously. Finally, numerical and practical examples are provided to demonstrate the validity of the proposed control strategy.

Fuzzy Adaptive Control of Uncertain MIMO Chaotic Systems with Unknown Control Direction

This paper presents an adaptive controller for MIMO chaotic systems with system uncertainties and unknown control direction. In the controller design, the matrix decomposition theory is used, and we decompose the control gain matrix into a positive matrix, a diagonal matrix whose diagonal entries are +1 or −1, and a unity upper triangular matrix. To handle the unknown control direction (i.e., the unknown sign of the control gain matrix), we use the Nussbaum-type function. In addition, we propose an adaptation law named proportional integral (PI) law to update the parameters of the fuzzy system. The stability of the controlled system is proven strictly. Finally, simulation results are presented.