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This paper presents an active-learning technique for constructing a fault diagnoser for an unknown finite-state Discrete Event System (DES). The proposed algorithm actively asks some basic queries from an oracle through which the algorithm completes a series of observation tables leading to the construction of the diganoser. The resulting diagnoser is a deterministic-finite-state automaton, which...
This paper presents a decentralized hybrid supervisory control approach for two unmanned helicopters that are involved in a leader-follower formation mission. Using a polar partitioning technique, the motion dynamics of the follower helicopters are abstracted to finite state machines. Then, a discrete supervisor is designed in a modular way for different components of the formation mission. Furthermore,...
In this paper, we present a systematic procedure for the design of a controller for an autonomous helicopter. The studied model of the helicopter is a semi-linearized model, which includes some nonlinear parts that are separated from the linear blocks. The controller structure is a hierarchical controller which consists of two layers: the inner-loop controller that covers the linear parts of the model...
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