This article addresses the leader-follower formation control problem for a group of quadrotors using only relative bearing measurements. Most existing methods require full position or velocity information, which cis challenging to obtain in harsh environments. In contrast, proposed scheme is based on hierarchical system that does not rely The bearing-only law designed stabilize desired formatio...

A. Ganek K. Kloeckner Information technology has become a key enabler for businesses in a wide variety of sectors (such as banking and health care) and is increasingly used to deliver their services. For these businesses, service excellence is increasingly a competitive differentiator, as customers need to rapidly adapt to changing conditions in the marketplace and create and deploy new service...

This paper proposes an improved equivalent-input-disturbance (IEID) approach to further suppress the exogenous disturbances. A predictor linear tracking differentiator (PLTD) is suggested as a replacement for first-order low-pass filter in traditional EID method and constructs IEID approach. The controller based on includes PLTD, Luenberger state observer, internal model of input signal feedbac...

We propose and demonstrate an optical arbitrary waveform generator and high-order photonic differentiator based on a four-tap finite impulse response (FIR) silicon-on-insulator (SOI) on-chip circuit. Based on amplitude and phase modulation of each tap controlled by thermal heaters, we obtain several typical waveforms such as triangular waveform, sawtooth waveform, square waveform and Gaussian w...

A new feedback-based methodology for the implementation of a fractional-order differentiator (FD) is described in this paper. The differentiator can be based on a standard definition of the fractional calculus, such as the Riemann-Liouville or Grunwald-Letnikov definitions. Some methods by which the FD functions can be approximated using a DSP-based implementation (either FIR or IIR) are descri...

In this paper, the application of sliding-mode control to a permanent-magnet synchronous motor (PMSM) is presented. The control design is based on a generic mathematical model of the motor. Some dynamics of the motor and of the power amplification stage remain unmodelled. This model uncertainty is estimated in realtime. The estimation is based on the differentiation of measured signals using th...

New designs of recursive digital differentiators are obtained by optimizing a general fourth-order recursive digital filter over different Nyquist bands. In addition, another design of recursive digital differentiators is also obtained by optimizing the specified pole-zero locations of existing recursive digital differentiator of second-order system. Further, new designs of recursive digital in...