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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)
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)
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)
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 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)
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)
This paper describes development of a simulation environment for multiple UAVs. The simulation environment consists of several PCs, each of them represents simulated motion of individual UAV and a host PC that controls and monitors the whole UAVs. UAVs can fly individually or sometimes they can cooperate to fly in formation following the leader. Each UAV(More)
This paper presents an adaptive guidance and control law algorithm for implementation on a pair of Unmanned Aerial Vehicles (UAVs) in a 6 DOF leader-follower formation flight simulation. The objective of the simulation study is to prepare for a flight test involving a pair of UAVs in formation flight where the follower aircraft will be equipped with an(More)
This paper proposes vision based collision risk estimation method for an unmanned surface vehicle. Vision based target motion analysis was performed to transform vision information of obstacles into motion information. In vision based target motion analysis, camera model and optical flow are adopted. Collision risk was calculated by fuzzy estimator which(More)
Wake homing guidance is the tracking guidance method that enables an underwater vehicle to follow the wake trajectory which a target ship remains. Because wake detection region by a wake sensor is not wide enough, wake is detected only when the vehicle get to near the wake. It cannot be known real wake trajectory, existing well-developed guidance method is(More)