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Corrections to "Geometric Properties of Gradient Projection Anti-windup Compensated Systems"

REA Auditado

In a conference paper titled "Geometric Properties of Gradient Projection Anti-windup Compensated Systems," two main results were presented. The first is the controller state-output consistency property of gradient projection anti-windup (GPAW) compensated controllers. The second is a geometric bounding condition relating the vector fields of the uncompensated and GPAW compensated closed-loop systems with respect to a star domain.

Tema: general: 

• Ingeniería y Ciencias Aplicadas›Ingeniería›Ingeniería Aeronáutica y Astronáutica

Gradient Projection Anti-windup Scheme on Constrained Planar LTI Systems

REA Auditado

The gradient projection anti-windup (GPAW) scheme was recently proposed as an anti-windup method for nonlinear multi-input-multi-output systems/controllers, the solution of which was recognized as a largely open problem in a recent survey paper. This report analyzes the properties of the GPAW scheme applied to an input constrained first order linear time invariant (LTI) system driven by a first order LTI controller, where the objective is to regulate the system state about the origin.

Tema: general: 

• Ingeniería y Ciencias Aplicadas›Ingeniería›Ingeniería Aeronáutica y Astronáutica

Using Support Vector Machines and Bayesian Filtering for Classifying Agent Intentions at Road Intersections

REA Auditado

Classifying other agents’ intentions is a very complex task but it can be very essential in assisting (autonomous or human) agents in navigating safely in dynamic and possibly hostile environments. This paper introduces a classification approach based on support vector machines and Bayesian filtering (SVM-BF). It then applies it to a road intersection problem to assist a vehicle in detecting the intention of an approaching suspicious vehicle. The SVM-BF approach achieved very promising results. Ford Motor Company, Le Fonds Quebecois de la Recherche sur la Nature et
les Technologies (FQRNT)

Tema: general: 

• Ingeniería y Ciencias Aplicadas›Ingeniería›Ingeniería Aeronáutica y Astronáutica

On Approximate Dynamic Inversion

REA Auditado

Approximate Dynamic Inversion has been established as a method to control minimum-phase, nonaffine-in-control systems [1]. In this report, we re-state the main results of [1], clarify some minor notational errors, and prove the same results in an expanded form. In the large, the main results of [1] still stand. The development follows [1] closely, and no novelty is claimed herein. The purpose of this report is mainly to supplement our existing results in [2]–[4] that rely heavily on the results of [1]. DSO National Laboratories (Singapore), AFOSR grant FA9550-08-1-0086

Tema: general: 

• Ingeniería y Ciencias Aplicadas›Ingeniería›Ingeniería Aeronáutica y Astronáutica

Reaching Consensus with Imprecise Probabilities over a Network

REA Auditado

This paper discusses the problem of a distributed network of agents attempting to agree on an imprecise probability over a network. Unique from other related work however, the agents must reach agreement while accounting for relative uncertainties in their respective probabilities. First, we assume that the agents only seek to agree to a centralized estimate of the probabilities, without accounting for observed transitions. We provide two methods by which such an agreement can occur which uses ideas from Dirichlet distributions.

Tema: general: 

• Ingeniería y Ciencias Aplicadas›Ingeniería›Ingeniería Aeronáutica y Astronáutica

Equivalence between Approximate Dynamic Inversion and Proportion-Integral Control

REA Auditado

Approximate Dynamic Inversion (ADI) has been established as a method to control minimum-phase, nonaffine-in-control systems. Previous results have shown that for single-input nonaffine-in-control systems, every ADI controller admits a linear Proportional-Integral (PI) realization that is largely independent of the nonlinear function that defines the system. In this report, we first present an extension of the ADI method for single-input nonaffine-in-control systems that renders the closed-loop error dynamics independent of the reference model dynamics.

Tema: general: 

• Ingeniería y Ciencias Aplicadas›Ingeniería›Ingeniería Aeronáutica y Astronáutica

Hover, Transition, and Level Flight Control Design for a Single-Propeller Indoor Airplane

REA Auditado

This paper presents vehicle models and test flight results for an autonomous fixed-wing airplane that is designed to take-off, hover, transition to and from level-flight modes, and perch on a vertical landing platform in a highly space constrained environment. By enabling a fixed-wing UAV to achieve these feats, the speed and range of a fixed-wing aircraft in level flight are complimented by hover capabilities that were typically limited to rotorcraft. Flight and perch landing results are presented. This capability significantly eases support and maintenance of the vehicle.

Tema: general: 

• Ingeniería y Ciencias Aplicadas›Ingeniería›Ingeniería Aeronáutica y Astronáutica