5 papers · 1 filter
Revisiting Certainty Equivalence: The Structural Coupling Between Estimation and Control in Underactuated Nonlinear Systems
Daniel Engelsman, Itzik Klein
The certainty equivalence (CE) principle underpins a wide range of control architectures by enabling the separation of estimation and control design. While this property holds for…
AERO-LQG: Aerial-Enabled Robust Optimization for LQG-Based Quadrotor Flight Controller
Daniel Engelsman, Itzik Klein
Quadrotors are indispensable in civilian, industrial, and military domains, undertaking complex, high-precision tasks once reserved for specialized systems. Across all contexts, en…
Inertial-Based LQG Control: A New Look at Inverted Pendulum Stabilization
Daniel Engelsman, Itzik Klein
Linear quadratic Gaussian (LQG) control is a well-established method for optimal control through state estimation, particularly in stabilizing an inverted pendulum on a cart. In st…
Underwater MEMS Gyrocompassing: A Virtual Testing Ground
Daniel Engelsman, Itzik Klein
In underwater navigation, accurate heading information is crucial for accurately and continuously tracking trajectories, especially during extended missions beneath the waves. In o…
Parametric and State Estimation of Stationary MEMS-IMUs: A Tutorial
Daniel Engelsman, Yair Stolero, Itzik Klein
Inertial navigation systems (INS) are widely used in almost any operational environment, including aviation, marine, and land vehicles. Inertial measurements from accelerometers an…