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https://www.selleckchem.com/products/sbe-b-cd.html The obtained MATLAB simulation test results verify the designed proposed controller.This is a paper on controlling fixed-wing unmanned aerial vehicle (UAV) swarm formations while coordinating their flocking to a specified circular path. The proposed non-uniform in both magnitude and direction path-following vector fields enable the aircraft of the entire group to converge to a circular motion around a target while also attaining and maintaining relative phase-shift angles between the UAVs. It is thereby assumed that UAVs use decentralized consensus for their neighbor-neighbor coordination, which implies unconstrained scalability of the formation. The highlight of this research is that it gets rid of the conventional assumption that all the UAVs must initially be on a circular path and follow it strictly, which makes the proposed approach more practical. The obtained backstepping-based control commands explicitly factor in the input constraints and make the UAV course angles and speeds converge to the vector field-specified values. The inevitable parameter uncertainties of UAV kinematic models can destabilize the formation, which is why adaptive self-tuning is applied. The new decentralized UAV flocking controller has been tested by detailed numerical MATLAB/Simulink experiments, including comparative experimentation, using realistic six degree-of-freedom (DoF) 12-state nonlinear UAV models; numerical modeling demonstrates the proposed approach stable for a variety of initial conditions.This paper proposes a reliable control of positive switched systems with random nonlinearities which may induce the security problem of the systems. The random nonlinearities are governed by stochastic variables obeying the Bernoulli distribution. A switched linear copositive Lyapunov function is employed for the systems. Using a matrix decomposition approach, the gain matrix of controller is formulated by the sum of nonnegative and n

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