Related papers: Aircraft navigation based on differentiation-integ…
This paper proposes an algebraic observer-based modulating function approach for linear time-variant systems and a class of nonlinear systems with discrete measurements. The underlying idea lies in constructing an observability…
Current control design for fast vision-based flight tends to rely on high-rate, high-dimensional and perfect state estimation. This is challenging in real-world environments due to imperfect sensing and state estimation drift and noise. In…
We address the conditions and design of controllers and observers for homogeneous networks of linear MIMO agents. We develop networked controllers and observers that ensure the stability of both the system state and the estimation error,…
This work addresses the problem of designing a visual servo controller for a multirotor vehicle, with the end goal of tracking a moving spherical target with unknown radius. To address this problem, we first transform two bearing…
In this paper, we first establish an exponential stability result for a class of linear switched systems and then apply this result to show the existence of the distributed observer for a discrete-time leader system over jointly connected…
A complete model of the motion of a quadcopter along a smooth spatial trajectory is presented. Based on the model, a robust algorithm is proposed for controlling a quadcopter using measurements of linear coordinates and yaw angle. By…
Unmanned Aerial Vehicles (UAV) have emerged as versatile platforms, driving the demand for accurate modeling to support developmental testing. This paper proposes data-driven modeling software for UAV. Emphasizes the utilization of…
In this paper, a fixed-time disturbance observerbased model predictive control algorithm is proposed for trajectory tracking of quadrotor in the presence of disturbances. First, a novel multivariable fixed-time disturbance observer is…
This paper presents a novel efficient method for spatial monitoring of the distribution of correlated field signals, such as temperature, humidity, etc. using unmanned aerial vehicles (UAVs). The spatial signal is compressed to its…
The purpose of navigation is to determine the position, velocity, and orientation of manned and autonomous platforms, humans, and animals. Obtaining accurate navigation commonly requires fusion between several sensors, such as inertial…
In this paper we will discuss the current status of coherent integration with the Navy Prototype Optical Interferometer (NPOI) (Armstrong et al. 2008). Coherent integration relies on being able to phase reference interferometric…
This paper considers fault estimation in nonlinear fractional order systems in observer form. For this aim, a step by step second order sliding mode observer is used. By means of a fractional inequality, the stability of the observer…
Decentralized drone swarms deployed today either rely on sharing of positions among agents or detecting swarm members with the help of visual markers. This work proposes an entirely visual approach to coordinate markerless drone swarms…
In this article, a tutorial introduction to visual-inertial navigation(VIN) is presented. Visual and inertial perception are two complementary sensing modalities. Cameras and inertial measurement units (IMU) are the corresponding sensors…
Connectivity in connected and autonomous vehicles (CAVs) introduces vulnerability to cyber threats such as false data injection (FDI) attacks, which can compromise system reliability and safety. To ensure resilience, this paper proposes a…
Intelligent transportation systems (ITS) aim to advance innovative strategies relating to different modes of transport, traffic management, and autonomous vehicles. This paper studies the platoon of connected and autonomous vehicles (CAV)…
In this thesis we are interested in applying distributed estimation, control and optimization techniques to enable a group of quadcopters to fly through openings. The quadcopters are assumed to be equipped with a simulated bearing and…
Integrated Sensing and Communication (ISAC) comprises detection and analysis of non-cooperative targets by exploiting the resources of the mobile radio system. In this context, micro-Doppler is of great importance for target classification,…
The sliding mode observer is a useful method for estimating the system state and the unknown disturbance. However, the traditional single-layer observer might still suffer from high pulse when the output measurement is mixed with noise. To…
Inertial navigation computation is to acquire the attitude, velocity and position information of a moving body by integrating inertial measurements from gyroscopes and accelerometers. Over half a century has witnessed great efforts in…