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Concurrent learning for convergence in adaptive control without persistency of excitation
TLDR
We show that for an adaptive controller that uses recorded and instantaneous data concurrently for adaptation, a verifiable condition on linear independence of the recorded data is sufficient to guarantee exponential tracking error and parameter error convergence. Expand
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Adaptive Trajectory Control for Autonomous Helicopters
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 theExpand
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Concurrent learning adaptive control of linear systems with exponentially convergent bounds
TLDR
We show that a verifiable condition on the linear independence of the recorded data is sufficient to guarantee global exponential stability of model reference adaptive control of uncertain linear dynamical systems. Expand
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Aircraft control and simulation: Dynamics, controls design, and autonomous systems: Third edition
TLDR
The Kinematics and Dynamics of Aircraft Motion with Application to Miniature Aerial Vehicles . Expand
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GPS-denied Indoor and Outdoor Monocular Vision Aided Navigation and Control of Unmanned Aircraft
TLDR
A novel algorithm to manage a library of features online is presented that can add or remove features based on a measure of relative confidence in each feature location. Expand
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Modeling, Control, and Flight Testing of a Small Ducted-Fan Aircraft
Small ducted fan autonomous vehicles have potential for several applications, especially for mi ssions in urban environments. This paper discusses the use of dynamic inversion with neural networkExpand
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Exponential parameter and tracking error convergence guarantees for adaptive controllers without persistency of excitation
TLDR
We present theoretical analysis and illustrative examples of an adaptive control method that leverages the increasing ability to record and process data online by using specifically selected and online recorded data concurrently with instantaneous data for adaptation. Expand
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The Georgia Tech Unmanned Aerial Research Vehicle: GTMax
This paper describes the design, development, and operation of a research Unmanned Aerial Vehicle (UAV) system that has been developed at the Georgia Institute of Technology, called the GTMax. ThisExpand
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Theory and Flight-Test Validation of a Concurrent-Learning Adaptive Controller
Theory and results of flight-test validation are presented for a novel adaptive law that concurrently uses current as well as recorded data for improving the performance of model reference adaptiveExpand
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Adaptive Flight Control for an Autonomous Unmanned Helicopter
For autonomous helicopter flight, it is common to separate the flight control problem into an innerloop that controls attitude and an outerloop that controls the trajectory of the helicopter. TheExpand
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