Adaptive control using quantized measurements with application to vision-only landing control

Yoav Sharon, Daniel Liberzon, Yi Ma

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We consider a class of control systems where the plant model is unknown and the feedback contains only partial quantized measurements of the state. We use a nonlinear optimization that is taking place over both the model parameters and the state of the plant in order to estimate these quantities. We propose a computationally efficient algorithm for solving the optimization problem, and prove its convergence using tools from convex and non-smooth analysis. We demonstrate the importance of this class of control systems, and our method of solution, using the following application: having a fixed wing airplane follow a desired glide slope on approach to landing. The only feedback is from a camera mounted at the front of the airplane and looking at a runway of unknown dimensions. The quantization is due to the finite resolution of the camera. Using this application we also compare our method to the basic method prevalent in the literature, where the optimization is only taking place over the plant model parameters.

Original languageEnglish (US)
Title of host publication2010 49th IEEE Conference on Decision and Control, CDC 2010
Pages2511-2516
Number of pages6
DOIs
StatePublished - Dec 1 2010
Event2010 49th IEEE Conference on Decision and Control, CDC 2010 - Atlanta, GA, United States
Duration: Dec 15 2010Dec 17 2010

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other2010 49th IEEE Conference on Decision and Control, CDC 2010
CountryUnited States
CityAtlanta, GA
Period12/15/1012/17/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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  • Cite this

    Sharon, Y., Liberzon, D., & Ma, Y. (2010). Adaptive control using quantized measurements with application to vision-only landing control. In 2010 49th IEEE Conference on Decision and Control, CDC 2010 (pp. 2511-2516). [5717125] (Proceedings of the IEEE Conference on Decision and Control). https://doi.org/10.1109/CDC.2010.5717125