81 citations · 101 across the 13 of their papers we have counts for
6 papers · 1 filter
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…
A Tutorial on Neural Networks and Gradient-free Training
Turibius Rozario, Arjun Trivedi, Ankit Goel
This paper presents a compact, matrix-based representation of neural networks in a self-contained tutorial fashion. Specifically, we develop neural networks as a composition of sev…
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…
On the Accuracy of the One-step UKF and the Two-step UKF
Ankit Goel, Dennis S. Bernstein
The most accurate version of the unscented Kalman filter (UKF) involves the construction of two ensembles. To reduce computational cost, however, UKF is often implemented without t…
Retrospective Cost Parameter Estimation with Application to Space Weather Modeling
Ankit Goel, Dennis S. Bernstein
This chapter reviews standard parameter-estimation techniques and presents a novel gradient-, ensemble-, adjoint-free data-driven parameter estimation technique in the DDDAS framew…
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…