4 papers
Extremum Seeking Control for Antenna Pointing via Symmetric Product Approximation
Bo Wang, Hashem Ashrafiuon, Sergey G. Nersesov
This paper investigates extremum seeking control for a torque-controlled antenna pointing system without direct angular measurements. We consider a two-degree-of-freedom (2-DOF) an…
Underactuated Source Seeking by Surge Force Tuning: Theory and Boat Experiments
Bo Wang, Sergey Nersesov, Hashem Ashrafiuon +2
We extend source seeking algorithms, in the absence of position and velocity measurements, and with tuning of the surge input, from velocity-actuated (unicycle) kinematic models to…
Collision-Free Continuum Deformation Coordination of a Multi-Quadcopter System Using Cooperative Localization
Hamid Emadi, Harshvardhan Uppaluru, Hashem Ashrafiuon +1
This paper integrates cooperative localization with continuum deformation coordination of a multi-quadcopter system {(MQS) to assure safety and optimality of the quadcopter team co…
Continuum Deformation Coordination of Multi-Agent Systems Using Cooperative Localization
Hossein Rastgoftar, Sergey Nersesov, Hashem Ashrafiuon
This paper studies the problem of decentralized continuum deformation coordination of multi-agent systems aided by cooperative localization. We treat agents as particles inside a t…