This paper deals with the leader-follower formation control problem while communication constraint in data transmitting is considered. From a practical point of view, we study the case in which unmanned vehicles are subject to the limited sensing, and communication is of a particular interest. A three-dimensional formation flight of multi-unmanned aerial vehicles with leader-follower configurat...

Abstract—The fractional–order proportional integral (FOPI) controller tuning rules based on the fractional calculus for the cascade control system are systematically proposed in this paper. Accordingly, the ideal controller is obtained by using internal model control (IMC) approach for both the inner and outer loops, which gives the desired closed-loop responses. On the basis of the fractional ...

A neural network (NN) based cascade control system is developed, in which the primary PID controller is constructed by NN. A new entropy-based measure, named the centred error entropy (CEE) index, which is a weighted combination of the error cross correntropy (ECC) criterion and the error entropy criterion (EEC), is proposed to tune the NN-PID controller. The purpose of introducing CEE in contr...

fresh juices of colourful wild berries: cornelian cherry, blackthorn, white beam and elderberry are considered as valuable, highly nutritive beverages and characterized by the high level of vitamins and antioxidant capacity. the concentration process of these juices by membrane osmotic distillation was studied, where only water vapour is eliminated, while the heat sensitive, valuable compounds ...

 liquefied natural gas (LNG) is the most economical way of transporting natural gas (NG) over long distances. Liquefaction of NG by using vapor compression refrigeration system requires high operating and capital cost. Due to lack of systematic design methods for multistage refrigeration cycles, the conventional approaches of determining optimal cycle configuration are mostly based on trial-an...