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This paper presents a method that can achieve fast adaptation for a class of model-reference adaptive control systems. It is well known that standard model-reference adaptive control exhibits high-gain control behaviors when a large adaptive gain is used to achieve fast adaptation in order to reduce tracking error rapidly. High-gain control creates(More)
In the past several years there has been a lot of interest in the design of efficient autonomous intelligent controllers for Unmanned Aerial Vehicles (UAV). This is a highly complex and challenging problem since future UAVs will be expected to complete autonomously a wide variety of complex missions, and achieve performance comparable to that of manned(More)
—A systematic design procedure using state-feedback Certainty Equivalence Adaptive Control (CEAC) technique is developed for linear plants and a class of nonlinear plants with unmatched uncertainty. It is shown that a reduced order observer and adaptive laws with normalization in conjunction with the CEAC law result in a stable overall system in the case of(More)
In this paper an autonomous hierarchical architecture for controlling swarms of unmanned aerial vehicles (UAV) is investigated. Its purpose is to carry out complex missions involving Intelligence, Surveillance, and Reconnaissance (ISR), Suppression of Enemy Aerial Defenses (SEAD), Destruction of Enemy Aerial Defenses (DEAD), Close Air Support (CAS), and(More)
— We present a procedure for the approximate verification of a class of adaptive control systems. In the systems considered, the continuum state evolves according to a differential equation that is jointly polynomial in states and exogenous inputs. Our computational procedure for approximate verification consists of outer approximating reach sets and(More)
— This paper presents a bounded linear stability analysis for a hybrid adaptive control that blends both direct and indirect adaptive control. Stability and convergence of nonlinear adaptive control are analyzed using an approximate linear equivalent system. A stability margin analysis shows that a large adaptive gain can lead to a reduced phase margin.(More)
— Most available approaches for adaptive accommodation of failures in flight control actuators result in a large number of parameters that need to be adjusted on-line. In this paper we propose a new failure parameterization that models a large class of failures in terms of a single parameter. The class of failures includes lock-in-place (LIP), float,(More)
The paper describes the development, implementation and flight testing of the Visual Threat Awareness (VISTA) system and the Multi-layer Architecture for Trajectory Replanning and Intelligent plan eXecution (MATRIX) for autonomous intelligent control of Unmanned Aerial Vehicles (UAVs). The VISTA system generates information on the threats and obstacles in(More)