When designing a controller for the autonomous vehicle system, safety and trajectory tracking performance are two major concerns. This letter proposes novel control design an system with nonaffine inputs that can track desired trajectories while considering constraint. First, dynamics is modeled using differential flatness approach. The dynamic inversion method then employed of nonaffine-in barrier function (CBF) approach utilized to enforce handled as least-squares optimization problem, CBF...

This paper presents a novel class of self-organizing multi-agent systems that form swarm and learn spatio- temporal process through noisy measurements from neighbors for various global goals. The physical spatio-temporal interest is modeled by Gaussian process. Each agent maintains its own posterior predictive statistics the based on neighbors. A set biologically inspired navigation strategies are identified statistics. unified way to prescribe goal group agents presented. reference...

Control design for a helicopter is challenging problem because of its nonaffine inputs, underactuated characteristics, and highly coupled dynamics. To solve control the under model uncertainties disturbance present environments, an explicit nonlinear predictive (ENMPC), dynamic inversion (DI), extended high-gain observer (EHGO) are combined in multi-time-scale fashion. The scaled structure ENMPC provide framework design, DI deals with EHGO estimates unmeasured system states uncertainties....

In this paper, we design and analyze a class of multiagent systems that locate peaks uncertain static fields in distributed scalable manner. The scalar field interest is assumed to be generated by radial basis function network. Our coordination algorithms for build on techniques from adaptive control. Each agent driven swarming gradient ascent efforts based its own recursively estimated via locally collected measurements itself neighboring agents. convergence properties the proposed are...

PROCEEDINGS PAPER Control Design for a Helicopter Using Dynamic Inversion and Extended High Gain Observers Joonho Lee, Lee Michigan State University, East Lansing, MI Search other works by this author on: This Site PubMed Google Scholar Ranjan Mukherjee, Mukherjee Hassan K. Khalil Author Information Paper No: DSCC2012-MOVIC2012-8664, pp. 653-660; 8 pages https://doi.org/10.1115/DSCC2012-MOVIC2012-8664 Published Online: September 17, 2013

This paper presents a complete experimental implementation of an Extended High-Gain Observer (EHGO) based disturbance and uncertainty estimator for use in quadrotor control. The system is designed as multi-time-scale to deal with mechanical underactuation ensure convergence EHGO estimates the output feedback lumped, estimated passed into rotational dynamic inversion control, linearization translational control cancel disturbances. results scheme that robust external disturbances well model...

In this paper we utilize dynamic inversion together with high-gain observers to stabilize an inverted pendulum on a cart. Dynamic is used invert the nonlinear map involving control input and are estimate states terms related acceleration variables. Through numerical simulations experiments, it shown that possible cart recover performance of state feedback control.

In this paper we propose a new method for the design of an output feedback controller minimum-phase, uncertain, input-nonaffine, nonlinear system. By combining dynamic inversion control together with extended high-gain observer, our is able to bring trajectories closed-loop system arbitrarily close that given target Stability analysis presented along simulation results trajectory tracking.

In this paper, we consider a deterministic adaptive control framework to design and analyze class of multi-agent systems that locate peaks unknown static fields in distributed scalable manner. Each agent is driven by swarming gradient ascent efforts based on its own recursively estimated field via locally collected measurements itself neighboring agents. The convergence properties the proposed are analyzed. We also provide sampling scheme facilitate convergence. simulation study confirms...

This paper presents an output feedback control design to stabilize the inverted pendulum at upright equilibrium as extension of our previous work [1]. Compared work, we add one more time scale between a angle and angular velocity reduce traveled distance cart. State is designed enable pass through input singularity configurations. Extended High-Gain Observers are used estimate acceleration terms while dynamic inversion utilizes estimates deal with coefficient uncertainties The proposed...

This paper proposes a discrete-time, multi-time-scale estimation and control design for quadrotors in the presence of external disturbances model uncertainties. Assuming that not all state measurements are available, they will need to be estimated. The sample-data Extended High-Gain Observers used estimate unmeasured states, system uncertainties, disturbances. Discretized dynamic inversion utilizes those estimates deals with an uncertain principal inertia matrix. In plant dynamics, proposed...

This paper proposes an output feedback control design for quadrotor Unmanned Aerial Vehicles (UAVs) to deal with unmeasured system states, uncertainties, and external disturbances. Extended High-Gain Observers (EHGOs) are used estimate the uncertainties states. Dynamic inversion utilizes estimates from EHGOs in second third fastest time scales order input a form of non-affine inputs. In plant dynamics, rotational dynamics fourth scale, is forced be faster than translational slowest scale...