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Controlling the Mobility of Network Nodes using Decentralized Extremum Seeking
 45th IEEE Conference on Decision and Control, IEEE
, 2006
"... Abstract—A decentralized mobility control scheme, using Extremum Seeking methods, is presented that forms a linked chain of mobile relays, having nonholonomic constraints, that maximizes the total link bandwidth. The factors that determine the final arrangement are numerous and hard to model and pre ..."
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Abstract—A decentralized mobility control scheme, using Extremum Seeking methods, is presented that forms a linked chain of mobile relays, having nonholonomic constraints, that maximizes the total link bandwidth. The factors that determine the final arrangement are numerous and hard to model and predict in real time. Thus controlling the mobile nodes by position alone to form a linked communication chain is not adequate. Instead, an extremum seeking algorithm is used to drive the location of the relay to an optimal place by maximizing a performance function of the received signaltonoise power ratios of immediate neighbors. A unique application of the ES algorithm is presented where the dither signal that drives the gradient estimation is derived from the motion of mobile relay orbiting about a virtual center point. I.
Extremum Seeking Based on Atmospheric Turbulence for Aircraft Endurance
"... Traditional extremum seeking depends on adding a perturbation to the control input, but it is untenable to continuously perturb the throttle in a controller meant to minimize fuel consumption. Inspired by a recent application of extremum seeking to a fusion reactor where internal nonperiodic perturb ..."
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Traditional extremum seeking depends on adding a perturbation to the control input, but it is untenable to continuously perturb the throttle in a controller meant to minimize fuel consumption. Inspired by a recent application of extremum seeking to a fusion reactor where internal nonperiodic perturbations were employed in the seeking process, a novel variant of extremum seeking is proposed that uses naturally occurring stochastic disturbances in lieu of the traditionally added perturbation signal. Relying on airspeed perturbations from atmospheric turbulence to reveal the local slope of the drag curve, the scheme induces a gradient descent to the minimum drag speed. Using stochastic averaging, it is proven analytically that the extremumseeking controller stabilizes airspeed to theminimumdrag speed, with an average offset proportional to the third derivative of the drag curve and the variance of the airspeed. Brief simulation results illustrate the performance of the algorithm. Nomenclature A = aspect ratio a = stochastic disturbance postsaturation scaling factor B = timescaleshifted and scaled Brownian motion b = engine thrust proportionality constant
CloseFormation Flight Control with Motion Synchronization
 Journal of Guidance, Control, and Dynamics
, 2005
"... ENGINEERING NOTES are short manuscripts describing new developments or important results of a preliminary nature. These Notes should not exceed 2500 words (where a figure or table counts as 200 words). Following informal review by the Editors, they may be published within a few months of the date of ..."
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ENGINEERING NOTES are short manuscripts describing new developments or important results of a preliminary nature. These Notes should not exceed 2500 words (where a figure or table counts as 200 words). Following informal review by the Editors, they may be published within a few months of the date of receipt. Style requirements are the same as for regular contributions (see inside back cover).
Formation Geometries and Route Optimization for Commercial Formation Flight
"... Formation flight provides an effective way to dramatically reduce fuel burn without fundamental changes to the aircraft flying today. A two aircraft echelon formation is investigated along with three different three aircraft formations. A three aircraft invertedV formation geometry is shown to hav ..."
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Formation flight provides an effective way to dramatically reduce fuel burn without fundamental changes to the aircraft flying today. A two aircraft echelon formation is investigated along with three different three aircraft formations. A three aircraft invertedV formation geometry is shown to have many favorable characteristics compared to other formation geometries. All of the aircraft in this formation need very small aileron deflections to trim in roll, for most spanwise spacings the formation is statically stable, and the total formation induced drag is insensitive to high levels of positioning uncertainty. A trade study was conducted to determine the fuel savings and difference in flight times that result from applying formation flight to missions of different stage length and different spacings between the origin cities. For a two aircraft echelon formation, the maximum fuel savings were 4 % with a tiptotip gap between the aircraft equal to 10 % of the span and 10% with a tip overlap equal to 10 % of the span. For the three aircraft invertedV formation, the maximum fuel savings were about 7 % with tiptotip gaps equal to 10 % of the span and about 16 % with tip overlaps equal to 10 % of the span. A case study examined the use of formation flight on five FedEx flights from the pacific
An Iterative Model Predictive Control Algorithm for UAV Guidance
"... A novel aircraft path–following guidance algorithm based on model predictive control is proposed in this paper. The algorithm tracks a precomputed trajectory and produces reference commands for a lowlevel attitude controller. To solve the associated nonlinear optimization problem, an iterative sche ..."
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A novel aircraft path–following guidance algorithm based on model predictive control is proposed in this paper. The algorithm tracks a precomputed trajectory and produces reference commands for a lowlevel attitude controller. To solve the associated nonlinear optimization problem, an iterative scheme is proposed, using as a feasible hotstart the guidance solution provided by a wellbehaved L1 navigation law. Simulations show the effectiveness of the algorithm, even in the presence of disturbances such as wind. Manuscript received February 26, 2014; revised October 19, 2014; released for publication March 20, 2015.
Article Adaptive Systems: History, Techniques, Problems, and Perspectives
, 2014
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INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING Int. J. Adapt. Control Signal Process. 2004; 18:1–22 (DOI: 10.1002/acs.777) Slope seeking: a generalization of extremum seeking
"... This work introduces slope seeking, a new idea for nonmodel based adaptive control. It involves driving the output of a plant to a value corresponding to a commanded slope of its referencetooutput map. To achieve this objective, we introduce a slope reference input into a sinusoidal perturbation ..."
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This work introduces slope seeking, a new idea for nonmodel based adaptive control. It involves driving the output of a plant to a value corresponding to a commanded slope of its referencetooutput map. To achieve this objective, we introduce a slope reference input into a sinusoidal perturbationbased extremum seeking scheme; derive a stability test for single parameter slope seeking, and then develop a systematic design algorithm based on standard linear SISO control methods to satisfy the stability test. We then extend the results to the multivariable case of gradient seeking. Finally, we illustrate nearoptimal compressor operation under slope seeking feedback through a simulation study upon the wellknown Moore–Greitzer model of compressor instability. Copyright # 2003 John Wiley & Sons, Ltd. KEY WORDS: slope seeking; extremum seeking; compressor instability control
MECHATRONICS, ROBOTICS AND COMPONENTS FOR AUTOMATION AND CONTROL
"... Abstract:This paper is devoted to the analysis of a broad technological field of Mechatronics, Robotics and Components for automation and control systems. Several subfields are considered: i) Components and instruments, involving sensors, actuators, embedded systems and communications; ii) Mechatro ..."
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Abstract:This paper is devoted to the analysis of a broad technological field of Mechatronics, Robotics and Components for automation and control systems. Several subfields are considered: i) Components and instruments, involving sensors, actuators, embedded systems and communications; ii) Mechatronics concepts and technologies; iii) Robotics; iv) Humanmachine systems, including technical issues and social implications; and v) Costoriented automation which is a multidisciplinary field involving theory, technologies and application as well as economical and social issues. First current key problems in this field are considered then, the accomplishment and trends are analysed. Finally, the forecast is presented. Copyright © 2005 IFAC
LeaderFollower Station Keeping
, 2004
"... � Try to maintain position relative to other aircraft. � Desired relative static position based on theoretical/experimental vortex calculations. 2 methods: ..."
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� Try to maintain position relative to other aircraft. � Desired relative static position based on theoretical/experimental vortex calculations. 2 methods: