Co-operative tensegrity-based formation control algorithm for a multi-aircraft system

This paper presents a tensegrity-based co-operative control algorithm for an aircraft formation. The 6 degrees-of-freedom model of the well-known Aerosonde unmanned aerial vehicle (UAV), is integrated with the model of the tensegrity structure and a decentralised control scheme is proposed. The strategy is shown to be scalable for 2n number of UAVs and is able to maintain a firm geometry whilst allowing flexible shape transformations. Simulation results demonstrate the effectiveness and stability of the proposed tensegrity-based formation control algorithm in 3D.

A hybrid mixed cost-function TEQ initialization algorithm for ADSL modems

In this paper, we present a hybrid mixed cost-function adaptive initialization algorithm for the time domain equalizer in a discrete multitone (DMT)-based asymmetric digital subscriber loop. Using our approach, a higher convergence rate than that of the commonly used least-mean square algorithm is obtained, whilst attaining bit rates close to the optimum maximum shortening SNR and the upper bound SNR. Moreover, our proposed method outperforms the minimum mean-squared error design for a range of TEQ filter lengths.