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Recent Submissions

  • Adaptive Control for a Microgravity Vibration Isolation System 

    Yang, Bong-Jun; Calise, Anthony J.; Craig, James I.; Whorton, Mark S. (Georgia Institute of Technology, 2005)
    Most active vibration isolation systems that try to a provide quiescent acceleration environment for space-science experiments have utilized linear design methods. In this report, we address adaptive control augmentation of ...
  • Adaptive Output Feedback Control of a Flexible Base Manipulator 

    Yang, Bong-Jun; Calise, Anthony J.; Craig, James I. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2007-07)
    This paper considers augmentation of an existing inertial damping mechanism by neural network-based adaptive control, for controlling a micromanipulator that is serially attached to a macromanipulator. The approach ...
  • Adaptive Control of Evolving Gossamer Structures 

    Yang, Bong-Jun; Calise, Anthony J.; Craig, James I.; Whorton, Mark S. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2006-08)
    A solar sail is an example of a gossamer structure that is proposed as an propulsion system for future space missions. Since it is a large scale flexible structure that requires a long time for its deployment, active ...
  • Adaptive Control for a Microgravity Vibration Isolation System 

    Yang, Bong-Jun; Calise, Anthony J.; Craig, James I.; Whorton, Mark S. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2005-08)
    Most active vibration isolation systems that try to a provide quiescent acceleration environment for space-science experiments have utilized linear design methods. In this paper, we address adaptive control augmentation ...
  • Experimental Validation of an Augmenting Approach to Adaptive Control of Uncertain Nonlinear Systems 

    Yang, Bong-Jun; Hovakimyan, Naira; Calise, Anthony J.; Craig, James I. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2003-08)
    A method of adaptive output feedback design for uncertain nonlinear systems is presented. The development is in a form that is suitable for augmenting a linear controller. The approach is applicable to non-affine, non-minimum ...
  • An LMI-based Stability Analysis for Adaptive Controllers 

    Yang, Bong-Jun; Yucelen, Tansel; Calise, Anthony J.; Shin, Jong-Yeob (Georgia Institute of Technology, 2009-06)
    We develop a Linear Matrix Inequality (LMI) tool for analyzing the stability and performance of adaptive controllers that employ σ−modification. The formulation involves recasting the error dynamics composed of the tracking ...
  • Adaptive output feedback control with input saturation 

    Yang, Bong-Jun; Calise, Anthony J.; Craig, James I. (Georgia Institute of TechnologyIEEE, 2003-06)
    We consider the problem of adaptive output feedback control in the presence of saturating input characteristic. The adaptive control architecture augments an existing linear control design. The approach is applicable to ...
  • Visual Marker Detection In The Presence Of Colored Noise for Unmanned Aerial Vehicles 

    Shah, Syed Irtiza Ali; Wu, Allen D.; Johnson, Eric N. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2010-04)
    This paper develops a vision-based algorithm to detect a visual marker in real time and in the presence of excessive colored noise for Unmanned Aerial Vehicles. After using various image analysis techniques, including ...
  • 3D Obstacle Detection Using a Single Camera 

    Shah, Syed Irtiza Ali; Johnson, Eric N. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2009-08)
    This paper aims at detecting obstacles using a single camera in an unknown three dimensional world, for 3D motion of an unmanned air vehicle. Obstacle detection is a pre-requisite for collision-free motion of a UAV through ...
  • Georgia Tech Aerial Robotics Team: 2009 International Aerial Robotics Competition Entry 

    Chowdhary, Girish; Christmann, Hans Claus; Johnson, Eric N.; Salaün, Erwan; Sobers, D. Michael Jr. (Georgia Institute of Technology, 2009-07)
    This paper examines the use of low-cost range and target identification sensors on a stable flying vehicle for suitability in solving the 5th Mission proposed for the 2009 International Aerial Robotics Competition. The ...
  • Indoor Navigation for Unmanned Aerial Vehicles 

    Sobers, D. Michael Jr.; Chowdhary, Girish; Johnson, Eric N. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2009-08)
    The ability for vehicles to navigate unknown environments is critical for autonomous operation. Mapping of a vehicle's environment and self-localization within that environ- ment are especially difficult for an Unmanned ...
  • Neural-Network Augmentation of Existing Linear Controllers 

    Sharma, Manu; Calise, Anthony J. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2005-01)
    A method to augment existing linear controllers with a multilayer neural network is presented. The neural network is adapted online to ensure desired closed-loop response in the face of parametric plant uncertainty; ...
  • An Adaptive Vision-Based Approach to Decentralized Formation Control 

    Sattigeri, Ramachandra J.; Calise, Anthony J.; Evers, Johnny H. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2004-12)
    In considering the problem of formation control in the deployment of intelligent munitions, it would be highly desirable, both from a mission and a cost perspective, to limit the information that is transmitted between ...
  • Vision-based Target Tracking with Adaptive Target State Estimator 

    Sattigeri, Ramachandra J.; Johnson, Eric N.; Calise, Anthony J.; Ha, Jin-Cheol (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2007-08)
    This paper presents an approach to vision-based target tracking with a neural network (NN) augmented Kalman filter as the adaptive target state estimator. The vision sensor onboard the follower (tracker) aircraft is a ...
  • Integration of Adaptive Estimation and Adaptive Control Design for Uncertain Nonlinear Systems 

    Sattigeri, Ramachandra J.; Calise, Anthony J.; Kim, Byoung Soo (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2007-08)
    This paper presents a method to integrate adaptive estimation and adaptive control designs for a class of uncertain nonlinear systems having both parametric uncertainties and unmodeled dynamics. The method is based on ...
  • Neural Network Augmented Kalman Filtering in the Presence of Unknown System Inputs 

    Sattigeri, Ramachandra J.; Calise, Anthony J. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2006-08)
    We present an approach for augmenting a linear, time-varying Kalman filter with an adaptive neural network (NN) for the state estimation of systems with linear process models acted upon by unknown inputs. The application ...
  • 6-DOF Nonlinear Simulation of Vision-based Formation Flight 

    Sattigeri, Ramachandra J.; Calise, Anthony J.; Kim, Byoung Soo; Volyanskyy, Konstantin; Kim, Nakwan (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2005-08)
    This paper presents an adaptive guidance and control law algorithm for implementation on a pair of Unmanned Aerial Vehicles (UAVs) in a 6 DOF leader-follower formation flight simulation. The objective of the simulation ...
  • An Adaptive Vision-based Approach to Decentralized Formation Control 

    Sattigeri, Ramachandra J.; Calise, Anthony J.; Evers, Johnny H. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2004-08)
    In considering the problem of formation control in the deployment of intelligent munitions, it would be highly desirable, both from a mission and a cost perspective, to limit the information that is transmitted between ...
  • An Adaptive Approach to Vision-based Formation Control 

    Sattigeri, Ramachandra J.; Calise, Anthony J.; Evers, Johnny H. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2003-08)
    In considering the problem of formation control in the deployment of intelligent munitions, it would be highly desirable, both from a mission and a cost perspective, to limit the information that is transmitted between ...
  • Development of an Autonomous Aerial Reconnaissance System at Georgia Tech 

    Proctor, Alison A.; Kannan, Suresh K.; Raabe, Chris; Christophersen, Henrik B.; Johnson, Eric N. (Georgia Institute of Technology, 2003-07)
    The Georgia Tech aerial robotics team has developed a system to compete in the International Aerial Robotics Competition, organized by the Association for Unmanned Vehicle Systems, International. The team is a multi-disciplinary ...

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