Nakwan Kim

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We consider adaptive output feedback control of uncertain nonlinear systems, in which both the dynamics and the dimension of the regulated system may be unknown. However, the relative degree of the regulated output is assumed to be known. Given a smooth reference trajectory, the problem is to design a controller that forces the system measurement to track(More)
To my wife [ × Ð M 6 U cN iii ACKNOWLEDGEMENTS First and foremost, I would like to thank my advisor Dr. Anthony J. Calise for his wisdom, generosity, and limitless patience in helping me to understand and fulfill my study. The level of professional advice and insight has been incredible. I am fortunate to have worked with him. I would like to express my(More)
We consider adaptive output feedback control of uncertain nonlinear systems, in which both the dynamics and the dimension of the regulated plant may be unknown. Only knowledge of relative degree is assumed. Given a smooth reference trajectory, the problem is to design a controller that forces the system measurement to track it with bounded errors. The(More)
This paper summarizes the formulation of two distinct methods for high-bandwidth nonlinear adaptive flight control of an unmanned helicopter testbed, and presents an evaluation and comparison of the two controllers in both simulation and flight test when subject to unmodeled dynamics, time delay, and actuator position and rate saturation. The attitude(More)
We consider adaptive output feedback neuro-control of uncertain nonlinear systems, and in particular its application to high-bandwidth flight control of un-manned rotorcraft. Given a smooth reference trajec-tory, the problem is to design a controller that would force the system measurement to track it asymptoti-cally or with bounded errors. The classical(More)
Several extensions to neural network (NN)-based adaptive output feedback control of nonlinear systems are developed. An extension from linearly to nonlinearly parameterized NNs is given for a direct adaptive output feedback approach. An extension that permits the introduction of e-modification in both the direct adaptive approach and an error-observer-based(More)
This paper presents a novel approach to adap-tive output feedback c o n trol. The approach permits adaptation to both parametric uncertainty and un-modeled dynamics. Of particular interest here is its use in high bandwidth ight control, which is made possible through interaction with poorly modeled high frequency dynamics. Adaptation is achieved using only(More)
To my family, present and future v ACKNOWLEDGEMENTS My foremost thank goes to my advisor Dr. Anthony Calise. I am greatly indebted to him for his patience and encouragement that carried me on through difficult times, and for his insights and suggestions that helped to shape my research skills. His wisdom and guidance that extend far beyond the contents of(More)
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