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Asynchronous Deep Model Reference Adaptive Control [article]

Girish Joshi, Jasvir Virdi, Girish Chowdhary
2020 arXiv   pre-print
We demonstrate that a single DMRAC controller can handle significant nonlinearities due to severe system faults and deliberate wind disturbances while executing high-bandwidth attitude control.  ...  These results demonstrating the efficacy of this architecture for high bandwidth closed-loop attitude control of unstable and nonlinear robots operating in adverse situations.  ...  For example for an aircraft system, vehicle parameters like pitot tube measurement, the angle of attack, engine thrust and so on.  ... 
arXiv:2011.02920v1 fatcat:6r3p7jza6rgclohnsgb2b7hqqy

Collaborative models for autonomous systems controller synthesis

Douglas Fraser, Ruben Giaquinta, Ruth Hoffmann, Murray Ireland, Alice Miller, Gethin Norman
2020 Formal Aspects of Computing  
For example, in [LKM + 08] a continuous-time model is used to describe the dynamics of a UAV and is then used to verify the control system.  ...  These are translated to timed automata augmented with global urgencies and data (DUTA) which can then be automatically mapped into Uppaal and Uppaal-SMC.  ...  We would like to thank Dave Anderson, Euan McGookin and Sandor Veres for discussions on the autonomous systems that inspired this paper.  ... 
doi:10.1007/s00165-020-00508-1 fatcat:6ey7aif3uze7fn36rnveuuzjry

Toward a Science of Cyber–Physical System Integration

J. Sztipanovits, X. Koutsoukos, G. Karsai, N. Kottenstette, P. Antsaklis, V. Gupta, B. Goodwine, J. Baras, Shige Wang
2012 Proceedings of the IEEE  
a quadrotor UAV.  ...  This paper presents a theory of composition for heterogeneous systems focusing on stability.  ...  Wu, and H. Yu that have contributed to various aspects of this work.  ... 
doi:10.1109/jproc.2011.2161529 fatcat:66n4tnsoh5hirknyaef754dq2y

Final Program

2020 2020 International Conference on Unmanned Aircraft Systems (ICUAS)  
I offer my best wishes for a successful and productive event, I look forward to seeing all of you in Athens, Greece, and I also look forward to continuing working with you. Kimon P.  ...  We are honored to have worked with them and we are truly indebted to everyone for their dedication and professionalism.  ...  The main contribution of this paper is the design of an observer-based model reference control for multi-agent systems with eventtriggered mechanism using a dynamic-threshold.  ... 
doi:10.1109/icuas48674.2020.9214039 fatcat:7jr6chhfija47kgtwoxqmfmmoe

IEEE Robotics & Automation Society

2012 IEEE robotics & automation magazine  
FCMs perform well even with missing data and despite nonlinearities, which such systems usually have.  ...  This algorithm may work as a backup solution for conventional air data systems when an Air Data System failure occurs.  ... 
doi:10.1109/mra.2012.2230568 fatcat:33actbknxrel3jnag2kx7cncem

IEEE Robotics & Automation Society

2011 IEEE robotics & automation magazine  
FCMs perform well even with missing data and despite nonlinearities, which such systems usually have.  ...  This algorithm may work as a backup solution for conventional air data systems when an Air Data System failure occurs.  ... 
doi:10.1109/mra.2011.941112 fatcat:owvu2behc5hulpcae2dp5myigm

IEEE Robotics & Automation Society

2011 IEEE robotics & automation magazine  
FCMs perform well even with missing data and despite nonlinearities, which such systems usually have.  ...  This algorithm may work as a backup solution for conventional air data systems when an Air Data System failure occurs.  ... 
doi:10.1109/mra.2011.943480 fatcat:d2wvloyv6jcbzp2yathd52mx2u

[IEEE Robotics & Automation Society]

2012 IEEE robotics & automation magazine  
FCMs perform well even with missing data and despite nonlinearities, which such systems usually have.  ...  This algorithm may work as a backup solution for conventional air data systems when an Air Data System failure occurs.  ... 
doi:10.1109/mra.2012.2229854 fatcat:rjrxtwk4jbcgjpvjdad6mougsq

Table of contents

2009 2009 17th Mediterranean Conference on Control and Automation  
This paper deals with sufficient conditions of asymptotic stability for non linear discrete-time 2D systems represented by a Takagi-Sugenofuzzy model of Roesser type with state feedback control.  ...  Hamzaoui, Abdelaziz IUT of Troyes This paper deals with the design of a robust adaptive fuzzy tracking control for a class of uncertain and disturbed nonlinear systems.  ...  ThA2 Room 2 In this paper, a new multi-layer neural network (MNN) based system identification scheme in discrete-time is proposed for a general class of nonlinear discrete-time systems with guaranteed  ... 
doi:10.1109/med.2009.5164498 fatcat:bi37lbkbhfaihj7lbc64vvplo4

2020 Index IEEE Transactions on Neural Networks and Learning Systems Vol. 31

2020 IEEE Transactions on Neural Networks and Learning Systems  
Departments and other items may also be covered if they have been judged to have archival value. The Author Index contains the primary entry for each item, listed under the first author's name.  ...  The primary entry includes the coauthors' names, the title of the paper or other item, and its location, specified by the publication abbreviation, year, month, and inclusive pagination.  ...  ., +, TNNLS June 2020 2209-2216 Partial-Neurons-Based Passivity-Guaranteed State Estimation for Neural Networks With Randomly Occurring Time Delays.  ... 
doi:10.1109/tnnls.2020.3045307 fatcat:34qoykdtarewhdscxqj5jvovqy

Sliding bifurcations in resonant inverters

Enrique Ponce, Luis Benadero, Abdelali El Aroudi, Luis Martinez-Salamero
2017 2017 14th International Multi-Conference on Systems, Signals & Devices (SSD)  
El Bekkali (Morocco) Abstract -This paper presents a fault detection and isolation scheme (FDI) applied on a quadrotor vehicle.  ...  process fault detection problem for a particular class of nonlinear flat system.  ... 
doi:10.1109/ssd.2017.8167001 dblp:conf/IEEEssd/PonceBAM17 fatcat:6lbol63imjffhezjv6yc6cnheu

Deep Learning and Reinforcement Learning for Autonomous Unmanned Aerial Systems: Roadmap for Theory to Deployment [article]

Jithin Jagannath, Anu Jagannath, Sean Furman, Tyler Gwin
2020 arXiv   pre-print
Unmanned Aerial Systems (UAS) are being increasingly deployed for commercial, civilian, and military applications.  ...  The lack of autonomy restricts the domains of application and tasks for which a UAS can be deployed.  ...  The fault detection and handling support features such as landing when missing C2 link, return to home when missing C2 link, automatic parachute release, battery voltage warning, geofence, land/return  ... 
arXiv:2009.03349v2 fatcat:5ylreoukrfcrtorzzp44mntjum

Dependable embedded systems

2008 2008 6th IEEE International Conference on Industrial Informatics  
Titles in the Series cover a focused set of embedded topics relating to traditional computing devices as well as hightech appliances used in newer, personal devices, and related topics.  ...  This Series addresses current and future challenges pertaining to embedded hardware, software, specifications and techniques.  ...  Hideharu Amano at Keio University and its partnering institutions. It was a tremendous help to see to possibilities of FDSOI in silicon very early on.  ... 
doi:10.1109/indin.2008.4618103 fatcat:hal6brsgsjg5rlo3u5xil46pxi

Dynamic Mission Planning for Communication Control in Multiple Unmanned Aircraft Teams

Andrew N. Kopeikin, Sameera S. Ponda, Luke B. Johnson, Jonathan P. How
2013 Unmanned Systems  
The consequences of degraded communications in a multi-agent system were highlighted through examples covering systems with ineffective return of remotely sensed data, complications in path planning and  ...  Again, communication requirements depend on the data type, but live-video, for instance, requires minimal delay, high data-rates, and has some fault tolerance [11] .  ... 
doi:10.1142/s2301385013500039 fatcat:vqka7eioirc5rjqelb36rc6j5u

Dynamic Control Allocation between Onboard and Delayed Remote Control for Unmanned Aircraft System Detect-and-Avoid [article]

Asma Tabassum, He Bai
2021 arXiv   pre-print
This paper develops and evaluates the performance of an allocation agent to be potentially integrated into the onboard Detect and Avoid (DAA) computer of an Unmanned Aircraft System (UAS).  ...  We conduct ten thousands fast-time Monte Carlo simulations and compare the performance of the integrated setup with a standalone DAA setup.  ...  The authors design classical PID to compensate for the effects of time delay and stabilize the vehicle.  ... 
arXiv:2103.07820v1 fatcat:jartcghzgjhy7beqrwl5mwilqa
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