Assessing most productive scale size with fuzzy stochastic data envelopment analysis

Classic data envelopment analysis (DEA) is a linear programming method for evaluating the relative efficiency of decision making units (DMUs) that uses multiple inputs to produce multiple outputs. In the classic DEA model inputs and outputs of DMUs are deterministic, while in the real world, are often fuzzy, random, or fuzzy-random. Many researchers have proposed different approaches to evaluate the relative efficiency with fuzzy and random data in DEA. In many studies, the most productive scale size (mpss) of decision making units has been estimated with fuzzy and random inputs and outputs. Also, the concept of fuzzy random variable is used in the DEA literature to describe events or occurrences in which fuzzy and random changes occur simultaneously. This paper has proposed the fuzzy stochastic DEA model to assess the most productive scale size of DMUs that produce multiple fuzzy random outputs using multiple fuzzy random inputs with respect to the possibility-probability constraints. For solving the fuzzy stochastic DEA model, we obtained a nonlinear deterministic equivalent for the probability constraints using chance constrained programming approaches (CCP). Then, using the possibility theory the possibilities of fuzzy events transformed to the deterministic equivalents with definite data. In the final section, the fuzzy stochastic DEA model, proposed model, has been used to evaluate the most productive scale size of sixteen Iranian hospitals with four fuzzy random inputs and two fuzzy random outputs with symmetrical triangular membership functions.

Stochastic Time-Varying Model Predictive Control for Trajectory Tracking of a Wheeled Mobile Robot

In this paper, a stochastic model predictive control (MPC) is proposed for the wheeled mobile robot to track a reference trajectory within a finite task horizon. The wheeled mobile robot is supposed to subject to additive stochastic disturbance with known probability distribution. It is also supposed that the mobile robot is subject to soft probability constraints on states and control inputs. The nonlinear mobile robot model is linearized and discretized into a discrete linear time-varying model, such that the linear time-varying MPC can be applied to forecast and control its future behavior. In the proposed stochastic MPC, the cost function is designed to penalize its tracking error and energy consumption. Based on quantile techniques, a learning-based approach is applied to transform the probability constraints to deterministic constraints, and to calculate the terminal constraint to guarantee recursive feasibility. It is proved that, with the proposed stochastic MPC, the tracking error of the closed-loop system is asymptotically average bounded. A simulation example is provided to support the theoretical result.