81 citations · 101 across the 13 of their papers we have counts for
6 papers · 1 filter
Retrospective Cost-based Extremum Seeking Control with Vanishing Perturbation for Online Output Minimization
Juan A. Paredes, Jhon Manuel Portella, Dennis S. Bernstein +1
Extremum seeking control (ESC) constitutes a powerful technique for online optimization with theoretical guarantees for convergence to the neighborhood of the optimizer under well-…
Adaptive Backstepping Control of a Bicopter in Pure Feedback Form with Dynamic Extension
Jhon Manuel Portella Delgado, Mohammad Mirtaba, Ankit Goel
This paper presents a model-based, adaptive, nonlinear controller for the bicopter stabilization and trajectory-tracking problem. The nonlinear controller is designed using the bac…
Computing Invariant Zeros of a Linear System Using State-Space Realization
Jhon Manuel Portella Delgado, Ankit Goel
It is well known that zeros and poles of a single-input, single-output system in the transfer function form are the roots of the transfer function's numerator and the denominator p…
Circumventing Unstable Zero Dynamics in Input-Output Linearization of Longitudinal Flight Dynamics
Jhon Manuel Portella Delgado, Ankit Goel
In this paper, we consider the problem of input-output linearization of the longitudinal flight dynamics. In longitudinal flight dynamics, inputs are typically thrust and elevator…
Recursive Least Squares with Variable-Direction Forgetting -- Compensating for the loss of persistency
Ankit Goel, Adam L. Bruce, Dennis S. Bernstein
Learning depends on the ability to acquire and assimilate new information. This ability depends---somewhat counterintuitively---on the ability to forget. In particular, effective f…
Convergence and Consistency of Recursive Least Squares with Variable-Rate Forgetting
Adam L. Bruce, Ankit Goel, Dennis S. Bernstein
A recursive least squares algorithm with variable rate forgetting (VRF) is derived by minimizing a quadratic cost function.Under persistent excitation and boundedness of the forget…