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The use of flight simulation tools to reduce the risk and required amount of flight testing for complex aerospace systems is a well recognized benefit of these tools. However, some special challenges arise when one attempts to extrapolate these benefits to very low-cost Uninhabited Aerial Vehicle (UAV) flight testing. These types of vehicles are(More)
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 adaptive control architectures. This novel adaptive law is termed concurrent learning. This adaptive law restricts the weight updates based on stored data to the(More)
Asthma and rhinitis are pathophysiologic conditions associated with a prototypical allergic response to inhaled allergens consisting of both neuromechanical and inflammatory components. Heptahelical receptors that bind guanosine triphosphate-binding proteins (G proteins), referred to as G protein-coupled receptors (GPCRs), have been intimately linked with(More)
Classical work in model reference adaptive control for uncertain nonlinear dynamical systems with a radial basis function (RBF) neural network adaptive element does not guarantee that the network weights stay bounded in a compact neighborhood of the ideal weights when the system signals are not persistently exciting (PE). Recent work has shown, however,(More)
— 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. This condition is found to be less restrictive and easier to monitor than a condition on(More)
In the application of adaptive flight control, significant issues arise due to limitations on the plant inputs, such as actuator displacement limits. The concept of utilizing a modified reference model to prevent an adaptation law from "seeing" this system-input characteristic is described. The method allows correct adaptation while the plant input is(More)
SUMMARY Concurrent learning adaptive controllers, which use recorded and current data concurrently for adaptation, are developed for model reference adaptive control of uncertain linear dynamical systems. We show that a verifiable condition on the linear independence of the recorded data is sufficient to guarantee global exponential stability. We use this(More)
Nomenclature a IMUx , a IMUy , a IMUz acceleration measurement from the IMU b ax , b ay , b az accelerometer measurement biases b ωx , b ωx , b ωx rate gyro biases f the process model F k the process model Jacobian at t k g the gravitational constant h t altitude of ground level h cg altitude of the center of gravity (c.g.) h k the measurement model at time(More)