81 citations · 125 across the 19 of their papers we have counts for
22 papers
Real-Time Numerical Differentiation of Sampled Data Using Adaptive Input and State Estimation
Shashank Verma, Sneha Sanjeevini, E. Dogan Sumer +1
Real-time numerical differentiation plays a crucial role in many digital control algorithms, such as PID control, which requires numerical differentiation to implement derivative a…
Generalized Forgetting Recursive Least Squares: Stability and Robustness Guarantees
Brian Lai, Dennis S. Bernstein
This work presents generalized forgetting recursive least squares (GF-RLS), a generalization of recursive least squares (RLS) that encompasses many extensions of RLS as special cas…
Self-Excited Dynamics of Discrete-Time Lur'e Models with Affinely Constrained, Piecewise-C1 Feedback Nonlinearities
Juan Paredes, Omran Kouba, Dennis S. Bernstein
Self-excited systems (SES) arise in numerous applications, such as fluid-structure interaction, combustion, and biochemical systems. In support of system identification and digital…
Experimental Flight Testing of an Adaptive Autopilot with Parameter Drift Mitigation
Yin Yong Chee, Parham Oveissi, Siyuan Shao +4
This paper modifies an adaptive multicopter autopilot to mitigate instabilities caused by adaptive parameter drift and presents simulation and experimental results to validate the…
Euler's Equation via Lagrangian Dynamics with Generalized Coordinates
Dennis S. Bernstein, Ankit Goel, Omran Kouba
Euler's equation relates the change in angular momentum of a rigid body to the applied torque. This paper fills a gap in the literature by using Lagrangian dynamics to derive Euler…
Experimental Flight Testing of a Fault-Tolerant Adaptive Autopilot for Fixed-Wing Aircraft
Joonghyun Lee, John Spencer, Siyuan Shao +3
This paper presents an adaptive autopilot for fixed-wing aircraft and compares its performance with a fixed-gain autopilot. The adaptive autopilot is constructed by augmenting the…