Now showing items 1-20 of 50

    • 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 ...
    • 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 ...
    • 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 ...
    • 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 ...
    • 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 ...
    • Vision-Only Aircraft Flight Control 

      De Wagter, Christophe; Proctor, Alison A.; Johnson, Eric N. (Georgia Institute of Technology, 2003-10)
      Building aircraft with navigation and control systems that can complete flight tasks is complex, and often involves integrating information from multiple sensors to estimate the state of the vehicle. This paper describes ...
    • 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 ...
    • Augmenting Adaptive Approach to Control of Flexible Systems 

      Calise, Anthony J.; Yang, Bong-Jun; Craig, James I. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2004)
      This paper describes an approach for augmenting a linear controller design with a neural-network-based adaptive element. The basic approach involves formulating an architecture for which the associated error equations have ...
    • System Integration and Operation of a Research Unmanned Aerial Vehicle 

      Johnson, Eric N.; Schrage, Daniel P. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2004-01)
      The use of flight simulation tools to reduce the schedule, risk, and required amount of flight testing for complex aerospace systems is a well-recognized benefit of these approaches. However, some special challenges arise ...
    • 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 ...
    • 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 ...
    • Small Adaptive Flight Control Systems for UAVs Using FPGA/DSP Technology 

      Christophersen, Henrik B.; Pickell, Wayne J.; Koller, Adrian A.; Kannan, Suresh K.; Johnson, Eric N. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2004-09)
      Future small UAVs will require enhanced capabilities like seeing and avoiding obstacles, tolerating unpredicted flight conditions, interfacing with payload sensors, tracking moving targets, and cooperating with other ...
    • 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 ...
    • 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 ...
    • Approaches to Vision-Based Formation Control 

      Johnson, Eric N.; Calise, Anthony J.; Sattigeri, Ramachandra J.; Watanabe, Yoko; Madyastha, Venkatesh (Georgia Institute of TechnologyIEEE, 2004-12)
      This paper implements several methods for performing vision-based formation flight control of multiple aircraft in the presence of obstacles. No information is communicated between aircraft, and only passive 2-D ...
    • Adaptive Trajectory Control for Autonomous Helicopters 

      Johnson, Eric N.; Kannan, Suresh K. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2005)
      For autonomous helicopter flight, it is common to separate the flight control problem into an inner loop that controls attitude and an outer loop that controls the translational trajectory of the helicopter. In previous ...
    • 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 ...
    • Visual Search Automation for Unmanned Aerial Vehicles 

      Johnson, Eric N.; Proctor, Alison A.; Ha, Jin-Cheol; Tannenbaum, Allen R. (Georgia Institute of TechnologyIEEE, 2005-01)
      This paper describes the design, development, and testing of an Unmanned Aerial Vehicle (UAV) with automated capabilities: searching a prescribed area, identifying a specific building within that area based on a small ...
    • 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; ...
    • 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 ...