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Full-Text Articles in Navigation, Guidance, Control and Dynamics
Finite-Time State Estimation For An Inverted Pendulum Under Input-Multiplicative Uncertainty, William Mackunis, Sergey V. Drakunov, Anu Kossery Jayaprakash, Krishna Bhavithavya Kidambi, Mahmut Reyhanoglu
Finite-Time State Estimation For An Inverted Pendulum Under Input-Multiplicative Uncertainty, William Mackunis, Sergey V. Drakunov, Anu Kossery Jayaprakash, Krishna Bhavithavya Kidambi, Mahmut Reyhanoglu
Publications
A sliding mode observer is presented, which is rigorously proven to achieve finite-time state estimation of a dual-parallel underactuated (i.e., single-input multi-output) cart inverted pendulum system in the presence of parametric uncertainty. A salient feature of the proposed sliding mode observer design is that a rigorous analysis is provided, which proves finite-time estimation of the complete system state in the presence of input-multiplicative parametric uncertainty. The performance of the proposed observer design is demonstrated through numerical case studies using both sliding mode control (SMC)- and linear quadratic regulator (LQR)-based closed-loop control systems. The main contribution presented here is the rigorous …
Uas Flight Operations In Complex Terrain: Assessing The Agricultural Impact From Hurricane Maria In The Central Mountainous Region Of Puerto Rico, Kevin Adkins
Publications
Hurricane Maria struck Puerto Rico in September 2017 as a Category 4 storm causing major damage to infrastructure, agriculture and natural ecosystems, as well as the loss of many lives. Among the crops hardest hit was coffee, one of the most important crops in Puerto Rico. As a perennial system, coffee takes various production forms along a gradient from high shade/biodiversity coffee farms to low shade coffee monocultures and therefore offers an ideal means for the study of resistance and resilience of an agroecosystem to weather and climate disturbance. During the summer of 2018, 14 impacted farms across the production …