This paper addresses the problem of controlling a heterogeneous system composed multiple Unmanned Aerial Vehicles (UAVs) and Autonomous Underwater (AUVs) for formation containment maintenance. The proposed approach considers actuator time delay and, in addition to containment, obstacle avoidance, offers robust navigation algorithm uses reliable middleware data transmission exchange. methodology...

We propose a new adaptive L1 penalized quantile regression estimator for highdimensional sparse regression models with heterogeneous error sequences. We show that under weaker conditions compared with alternative procedures, the adaptive L1 quantile regression selects the true underlying model with probability converging to one, and the unique estimates of nonzero coefficients it provides have ...

this paper introduces a technique for controlling a class of uncertain chaotic systems using an adaptive fuzzy proportional-integrator-derivative (pid) controller with h∞ tracking performance. the purpose of this work is to achieve optimal tracking performance of the controller using backtracking search algorithm (bsa). bsa, which is a novel heuristic algorithm, has an easy structure with singl...

This paper presents an extension of the L1 adaptive output feedback controller to a class of nonlinear systems where nonlinearities satisfy a semiglobal Lipschitz condition. The control algorithm consists of an output predictor which is designed to predict the system’s output with arbitrary accuracy, and a control law which is used to control the predictor output instead of the actual system’s ...

The enzymatic process is a key step in second generation bioethanol production. Pretreated biomass fibers are liquefied with the help of enzymes to facilitate fermentation. Enzymes are very sensitive to pH and temperature and the main control challenge in the nonlinear process is to ensure minimum deviations from the optimal pH level. This article develops a mathematical model for the pH, which...

an asymptotically stable direct adaptive fuzzy pi sliding modecontroller is proposed for a class of nonlinear uncertain systems. in contrast toother existing approaches of handling disturbances, the proposed approachdoes not require this bound to be known, only requiring that it exists.moreover, a pi control structure is used to attenuate chattering. the approachis applied to stabilize an open-...

It is well-known that the use of a large adaptive gain in model-reference adaptive control (MRAC) can result in poor robustness.1 Two well-known robust modification methods, namely; the σ -modification2 and e-modification,3 have been used extensively. The last decade has seen a surge in many new adaptive control methods such as the L1 adaptive control,4 adaptive loop transfer recovery,5 Kalman ...

in this paper, we introduce a new hyperchaotic complex t-system. this system has complex nonlinear behavior which we study its dynamical properties including invariance, equilibria and their stability, lyapunov exponents, bifurcation, chaotic behavior and chaotic attractors as well as necessary conditions for this system to generate chaos. we discuss the synchronization with certain and uncerta...

in this study, a new approach for control (treatment) of aids based on patient entry drug. one of the main problems related to aids, is lack of control, lack of identification and early treatment of this disease. today physicians more than anything, control the disease relying on their experience and knowledge and time-consuming and complex experiments, nevertheless, human errors are inevitable...

The advantage of the Model Reference Adaptive Scheme is to establish robustness with respect to bounded disturbances and unmodeled dynamics. In the model reference adaptive system (MRAS), the desired index of performance is given by the reference model. The tracking error represents the deviation of the plant output from the desired trajectory. The adaptive control without having robustness pro...