This work proposes three robust mechanisms based on the MIT rule and sliding-mode techniques. These have to tune gains of an adaptive Proportional-Derivative controller steer a quadrotor in predefined trajectory. The structure is model reference control (MRAC). proposed achieve objective (trajectory tracking) are rule, with sliding mode (MIT-SM), twisting (MIT-Twisting), high order (MIT-HOSM).

Various system parameter variations occur during operations in several existing process industries. These result shifts, thus, requiring adequate control strategies to compensate for these alterations, which consequently maintain desired response. A paradigm is the coupled tank systems; such systems, level and flow of liquid must be adequately controlled reaction equilibrium as well avoid spill...

The aim of this paper is to present a novel approach for the design and implementation of onboard nonlinear control systems for different types of unmanned air vehicles. The essential difficulty of creating such controllers is the inherent nonlinearity of the dynamics of the system, which also introduces a great complexity. Our proposed approach relies on an automatic state dependent coefficien...

This paper deals with the challenging aspect concerning the state estimation in hydraulic actuators characterized by not negligible nonlinearities. Particularly,. One of the most common hard nonlinearities in hydraulic actuator is the deadzone. More specifically, dead-zone occurs in hydraulic control valves when its spool occludes the orifice with an overlap, so that for a range of spool positi...

We introduce a new concept called scalability to adaptive control in this paper. In particular, we analyze how to scale learning rates of adaptive weight update laws of various adaptive control schemes with respect to given command profiles to achieve a predictable closed-loop response. An illustrative numerical example is provided to demonstrate the proposed concept, which emphasize that it ca...

The asymptotic behavior of adaptive systems has been a well researched topic during the last couple of decades, and it is well known that asymptotic tracking can be achieved using the Lyapunov redesign method. However, the transient behavior of the input and output signals can be very oscillatory with significant excursions [1]. There has been a great deal of effort to modify the control archit...

Staphylococcus aureus is the most common cause of hospital-acquired infection. Because of the emergence of antibiotic-resistant strains, these infections represent a serious public health threat. To develop a broadly protective vaccine, we tested cell wall-anchored surface proteins of S. aureus as antigens in a murine model of abscess formation. Immunization with four antigens (IsdA, IsdB, SdrD...

To ensure safe operation of unmanned aerial vehicles (UAVs), component hazards need to be dealt with robustly through effective fault diagnosis. The extended Kalman filter (EKF) has proven popular in this realm, though it is known to suffer from linearisation errors that can degrade performance. This paper presents results from initial simulation trials that address sensor fault detection and i...