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The primary focus of this work is to design and implement a robust automatic flight control system for a smallscale unmanned helicopter. A comprehensive nonlinear model for the unmanned system, which is constructed by our research team at the National University of Singapore, is first derived and presented. Based on its linearized model, a robust automatic flight control system is then designed by...
Hematopoietic stem cells (HSCs) from the human placenta and umbilical cord blood (UCB) provide a rich source of highly proliferative cells for many clinical uses with advantages over traditional sources like the bone marrow and periphery blood. However, the key current constraint with this source of HSCs is the inadequate number of HSCs cells that can be harvested in a single collection using current...
The paper studies a class of formation control problem, i.e. the controllability for multi-agent systems. The contribution includes several necessary and/or sufficient conditions for the controllability under multiple leaders and switching topology. The results are not only necessary and/or sufficient, but also indicate to a certain degree how the controllability be impacted by the evolvement of the...
In this paper, we present a control system design and a collision avoidance scheme for the formation flight of multiple UAV helicopters. We adopt the leader-follower pattern to maintain a fixed geometrical formation while navigating the UAVs following certain trajectories. More specifically, the leader is commanded to fly on some predefined trajectories, and each follower is controlled to maintain...
This talk is dedicated to intelligent control of mechatronic systems. After a brief review of fuzzy logic and neural network systems, two main tools used for intelligent control, and some basic control concepts and methodologies, intelligent control is presented for two typical mechatronic systems, servo mechanisms and robotic systems by fully exploiting the physical properties of the systems. For...
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