in this paper, a robust tracking control method for automatic take-off and trajectory tracking of a quadrotor helicopter is presented. the designed controller includes two parts: a position controller and an attitude controller. the attitude controller is designed by using the sliding mode control (smc) method to track the desired pitch and roll angles, which are the output of position controll...

This paper deals with modeling of power line communication. A two-port network model is theoretically described and compared with measurement. A substantial part is focused on the mathematical description of distribution network using the method, which uses chain parameter matrices describing the relation between input and output voltage and current of the two-port network. This method is used ...

This paper introduces a controller which integrates a predictive control synthesis based on a multivariable state – space model of the controlled system and an on – line identification of an ARX model corresponding to the state – space model. The used approach then combines both state – space and input – output models. The model parameters are recursively estimated using the recursive least squ...

The application of a self-organizing fuzzy proportional–integral–derivative (SOF-PID) controller to a multiple-input–multiple-output (MIMO) nonlinear revolute-joint robot arm is studied in this paper. The SOF controller is a learning supervisory controller, making small changes to the values of the PID gains while the system is in operation. In effect, the SOF controller replaces an experienced...

The design of MIMO PI controller is formulated as an LQR problem. The weighting matrices of the quadratic performance index are chosen so that tuning can be done for each inputoutput channel and for tradeoff between transient response and robustness with respect to modeling error. The number of tuning parameters is the same as that of a decentralized PI controller. A d&ign example is given to d...

In multi-hop communication systems, two-way relaying is one of the solutions to mitigate the spectral efficiency loss caused by a half-duplex transmission. In this paper, a simple two-way relaying scheme is proposed for two-hop two-user multiple input multiple output (MIMO) systems. In the proposed system, a base station and a relay station (RS), both equipped with two antennas, form a point-to...

This paper presents a new method of synthesizing an output feedback adaptive controller for a class of uncertain, non-square, multi-input multi-output systems that often occur in hypersonic vehicle models. The main challenge that needs to be addressed is the determination of a corresponding square and strictly positive real transfer function. This paper proposes a new procedure to synthesize tw...