20 citations · 27 across the 5 of their papers we have counts for
5 papers
Modeling and Optimal Control of Hybrid UAVs with Wind Disturbance
Sunsoo Kim, Niladri Das, Raktim Bhattacharya
This paper addresses modeling and control of a six-degree-of-freedom unmanned aerial vehicle capable of vertical take-off and landing in the presence of wind disturbances. We desig…
Computationally Efficient Attitude Estimation with Extended Filtering
Sunsoo Kim, Vaishnav Tadiparthi, Raktim Bhattacharya
Accurate state estimation using low-cost MEMS (Micro Electro- Mechanical Systems) sensors present on Commercial-off-the-shelf (COTS) drones is a challenging problem. Most UAV syste…
Nonlinear Attitude Estimation for Small UAVs with Low Power Microprocessors
Sunsoo Kim, Vaishnav Tadiparthi, Raktim Bhattacharya
Among algorithms used for sensor fusion for attitude estimation in unmanned aerial vehicles, the Extended Kalman Filter (EKF) is the most commonly used for estimation. In this pape…
H2 Optimized PID Control of Quad-Copter Platform with Wind Disturbance
Sunsoo Kim, Vedang Deshpande, Raktim Bhattacharya
Proportional-Integral-Derivative (PID) scheme is the most commonly used algorithm for designing the controllers for unmanned aerial vehicles (UAVs). However, tuning PID gains is a…
Kalman Filtering with Probabilistic Uncertainty in System Parameters
Sunsoo Kim, Vedang M. Deshpande, Raktim Bhattacharya
In this paper, we propose a robust Kalman filtering framework for systems with probabilistic uncertainty in system parameters. We consider two cases, namely discrete time systems,…