5 papers
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…
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…
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…