Now showing items 18-37 of 50

    • A Compact Guidance, Navigation, and Control System for Unmanned Aerial Vehicles 

      Christophersen, Henrik B.; Pickell, R. Wayne; Neidhoefer, James C.; Koller, Adrian A.; Kannan, Suresh K.; Johnson, Eric N. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2006-05)
      The Flight Control System 20 (FCS20) is a compact, self-contained Guidance, Navigation, and Control system that has recently been developed to enable advanced autonomous behavior in a wide range of Unmanned Aerial Vehicles ...
    • Coordinated Decentralized Adaptive Output Feedback Control of Interconnected Systems 

      Hovakimyan, Naira; Lavretsky, Eugene; Yang, Bong-Jun; Calise, Anthony J. (Georgia Institute of TechnologyAmerican Automatic Control Council, 2004-06)
      A decentralized adaptive output feedback control design is proposed for large-scale interconnected systems. It is assumed that all the controllers share prior information about the system reference models. A linearly ...
    • Design and Implementation of a Self-configuring Ad-hoc Network for Unmanned Aerial Systems 

      Christmann, Hans Claus; Johnson, Eric N. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2007-10)
      Unmanned aerial vehicles (UAVs), and unmanned aerial systems (UAS) as such in general, need wireless networks in order to communicate. UAS are very flexible and hence allow for a wide range of missions by means of utilizing ...
    • Development and Test of Highly Autonomous Unmanned Aerial Vehicles 

      Johnson, Eric N.; Proctor, Alison A.; Ha, Jin-Cheol; Tannenbaum, Allen R. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2004-12)
      This paper describes the design, development, and testing of Unmanned Aerial Vehicles (UAV) with highly automated search capabilities. Here, systems are able to respond on their own in the presence of considerable uncertainty ...
    • 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 ...
    • Estimation and Guidance Strategies for Vision-based Target Tracking 

      Calise, Anthony J.; Johnson, Eric N.; Sattigeri, Ramachandra J.; Watanabe, Yoko; Madyastha, Venkatesh (Georgia Institute of TechnologyAACC, 2005-06)
      This paper discusses estimation and guidance strategies for vision-based target tracking. Specific applications include formation control of multiple unmanned aerial vehicles (UAVs) and air-to-air refueling. We assume that ...
    • 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 ...
    • Flight Results of Autonomous Fixed-Wing UAV Transitions to and from Stationary Hover 

      Johnson, Eric N.; Turbe, Michael A.; Wu, Allen D.; Kannan, Suresh K.; Neidhoefer, James C. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2006-08)
      Fixed-wing unmanned aerial vehicles (UAVs) with the ability to hover have significant potential for applications in urban or other constrained environments where the combination of fast speed, endurance, and stable ...
    • Flight Test Validation of a Neural Network based Long Term Learning Adaptive Flight Controller 

      Chowdhary, Girish; Johnson, Eric N. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2009-08)
      The purpose of this paper is to present and analyze flight test results of a Long Term Learning Adaptive Flight Controller implemented on a rotorcraft and a fixed wing Unmanned Aerial Vehicle. The adaptive control ...
    • Flight-Test Results of Autonomous Airplane Transitions Between Steady-Level and Hovering Flight 

      Johnson, Eric N.; Wu, Allen D.; Neidhoefer, James C.; Kannan, Suresh K.; Turbe, Michael A. (Georgia Institute of Technology, 2008-03)
      Linear systems can be used to adequately model and control an aircraft in either ideal steady-level flight or in ideal hovering flight. However, constructing a single unified system capable of adequately modeling or ...
    • 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 ...
    • Guidance, Navigation, Control, and Operator Interfaces for Small Rapid Response Unmanned Helicopters 

      Christmann, Hans Claus; Christophersen, Henrik B.; Wu, Allen D.; Johnson, Eric N. (Georgia Institute of Technology, 2008-04)
      This paper focuses on the development of small rapid response reconnaissance unmanned helicopters (1 to 3 kg, electric), for use by the military in urban areas and by civilian first responders, in terms of system ...
    • 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 ...
    • 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 ...
    • Limited Authority Adaptive Flight Control for Reusable Launch Vehicles 

      Johnson, Eric N.; Calise, Anthony J. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2003-11)
      In the application of adaptive flight control, significant issues arise due to limitations in the plant inputs, such as actuator displacement limits, actuator rate limits, linear input dynamics, and time delay. A method ...
    • 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 ...
    • Methods for Localization and Mapping Using Vision and Inertial Sensors 

      Wu, Allen D.; Johnson, Eric N. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2008-08)
      The problems of vision-based localization and mapping are currently highly active areas of research for aerial systems. With a wealth of information available in each image, vision sensors allow vehicles to gather data ...
    • Modeling Urban Environments for Communication-Aware UAV Swarm Path Planning 

      Christmann, Hans Claus; Johnson, Eric N. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2010-08)
      The presented work introduces a graph based approach to model urban (or otherwise cluttered) environments for UAS utilization beyond line-of-sight as well as out of direct R/F range of the operator's control station. ...
    • Modeling, Control, and Flight Testing of a Small Ducted Fan Aircraft 

      Johnson, Eric N.; Turbe, Michael A. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2006-07)
      Small ducted fan autonomous vehicles have potential for several applications, especially for missions in urban environments. This paper discusses the use of dynamic inversion with neural network adaptation to provide an ...
    • Nested Saturation with Guaranteed Real Poles 

      Johnson, Eric N.; Kannan, Suresh K. (Georgia Institute of TechnologyIEEE, 2003-06)
      The global stabilization of asymptotically null-controllable linear systems with bounded controls has been studied extensively. An early contribution was by Teel [6] who proposed a set of nested saturators to globally ...