3 citations · 4 across the 8 of their papers we have counts for
9 papers
Constraint-Lifted Sector-Constrained Guidance for Rear-Approach Interception
Jhon Manuel Portella Delgado, Dennis S Bernstein, Ankit Goel
This paper develops a sector-constrained guidance (SCG) law for interception of a maneuvering target while maintaining a prescribed approach geometry. The line of sight is required…
A Numerical Investigation of Extremum-Seeking-Based Command Generation for Adaptively Controlled Systems
Jhon Manuel Portella Delgado, Aidan Rice, Jacob C. Vander Schaaf +1
We develop an adaptive feedback control technique that combines an extremum-seeking-based command generator (ECG) with indirect adaptive control. In particular, ECG is used to gene…
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…
Real-Time Kinematics-Based Sensor-Fault Detection for Autonomous Vehicles Using Single and Double Transport with Adaptive Numerical Differentiation
Shashank Verma, Dennis S. Bernstein
Sensor-fault detection is crucial for the safe operation of autonomous vehicles. This paper introduces a novel kinematics-based approach for detecting and identifying faulty sensor…