8 papers · 1 filter
What is a Relevant Signal-to-Noise Ratio for Numerical Differentiation?
Shashank Verma, Mohammad Almuhaihi, Dennis S. Bernstein
In applications that involve sensor data, a useful measure of signal-to-noise ratio (SNR) is the ratio of the root-mean-squared (RMS) signal to the RMS sensor noise. The present pa…
Frenet-Serret-Based Trajectory Prediction
Shashank Verma, Dennis S. Bernstein
Trajectory prediction is a crucial element of guidance, navigation, and control systems. This paper presents two novel trajectory-prediction methods based on real-time position mea…
Target Tracking Using the Invariant Extended Kalman Filter with Numerical Differentiation for Estimating Curvature and Torsion
Shashank Verma, Dennis S. Bernstein
The goal of target tracking is to estimate target position, velocity, and acceleration in real time using position data. This paper introduces a novel target-tracking technique tha…
Sensor-Noise Mitigation in Extremum Seeking Control Using Adaptive Numerical Differentiation
Shashank Verma, Juan Augusto Paredes Salazar, Jhon Manuel Portella Delgado +2
Extremum-seeking control (ESC) is widely used to optimize performance when the system dynamics are uncertain. However, sensitivity to sensor noise is a crucial issue in ESC impleme…
Adaptive Target Tracking Using Retrospective Cost Input Estimation
Shashank Verma, Sneha Sanjeevini, E. Dogan Sumer +1
Target tracking of surrounding vehicles is essential for collision avoidance in autonomous vehicles. Our approach to target tracking is based on causal numerical differentiation on…
Adaptive Real-Time Numerical Differentiation with Variable-Rate Forgetting and Exponential Resetting
Shashank Verma, Brian Lai, Dennis S. Bernstein
Digital PID control requires a differencing operation to implement the D gain. In order to suppress the effects of noisy data, the traditional approach is to filter the data, where…