Input and State Estimation for Discrete-Time Linear Systems with Application to Target Tracking and Fault Detection

Aerospace Engineering PhD Candidate: Ahmad A. Ansari

This dissertation first presents a deterministic treatment of discrete-time input reconstruction and state estimation without assuming the existence of a full-rank Markov parameter. Deadbeat algorithms based on the generalized inverse of a block-Toeplitz matrix are given for input reconstruction and state estimation in the case where the initial state is unknown and the system has no invariant zeros. In all cases, the unknown input is an arbitrary deterministic or stochastic signal.

Next, asymptotic input and state estimation for systems with invariant zeros is considered. Although this problem has been widely studied, existing techniques are confined to the minimum-phase systems. This dissertation presents retrospective cost input estimation (RCIE). It is shown that RCIE automatically develops an internal model of the unknown input, which provides an asymptotic estimate of the unknown input regardless of the zeros-location of the plant, including the case of nonminimum-phase dynamics.

Finally, based on exact kinematic models, this dissertation presents a method for target tracking and detecting sensor faults. RCIE is applied to the nonminimum-phase problem of estimating inertial acceleration (3-axis accelerometer measurements) and angular velocity (3-axis rate-gyro measurements) of a maneuvering UAV using vision data. The estimates are then compared to IMU data from onboard sensors.

Doctoral Committee

Chair:
Professor Dennis S. Bernstein

Cognate Member:
Professor Jeff Stein

Members:
Professor Ella M. Atkins
Assistant Professor Alex Gorodetsky


Publications

Journal Articles

1. Ahmad Ansari and Dennis Bernstein, “Deadbeat State Estimation and Input Reconstruction for Discrete-Time Linear Systems”, Automatica, under review.

2. Ahmad Ansari and Dennis Bernstein, “Input Estimation for Nonminimum-Phase Systems with Application to Acceleration Estimation for a Maneuvering Vehicle”, IEEE Transactions on Control System Technology, 2018 March 6.

3. Ahmad Ansari and Dennis Bernstein, “Retrospective Cost Adaptive Control of the Generic Transport Model Under Uncertainty and Failure”, Journal of Aerospace Information Systems, Vol. 14, No. 3, pp. 123-174, 2017.

Peer-reviewed Conference Papers

1. Ahmad Ansari and Dennis Bernstein, “Satellite Drag Estimation Using Retrospective Cost Input Estimation”, 57th IEEE Conference on Decision and Control, Miami, FL, 2018, under review.

2. Ankit Goel, Ahmad Ansari, and Dennis Bernstein, “Adaptive Squaring-Based Control Allocation for Wide Systems with Application to Lateral Flight Control”, 57th IEEE Conference on Decision and Control, Miami, FL, 2018, under review.

3. Ahmad Ansari, Ningyuan Zhang, and Dennis Bernstein, “Retrospective Cost Adaptive PID Control of Quadcopter/Fixed-Wing Mode Transition in a VTOL Aircraft”, Proceeding of AIAA Guidance, Navigation, and Control Conference, pp. 1838, Kissimmee, 2018.

4. Ahmad Ansari and Dennis Bernstein, “Retrospective Cost Adaptive Control of the Generic Transport Model under Abrupt Faults”, Proceeding of AIAA Guidance, Navigation, and Control Conference, pp. 1125, Kissimmee, 2018.

5. Ahmad Ansari and Dennis Bernstein, “Estimation of Angular Velocity and Rate-Gyro Noise for Sensor Health Monitoring”, Proceedings of American Control Conference, pp. 1159-1164, Seattle, 2017.

6. Ahmad Ansari and Dennis Bernstein, “Adaptive Trim and Trajectory Following for a Tilt-Rotor Tricopter”, Proceedings of American Control Conference, pp. 1109-114, Seattle, 2017.

7. Ahmad Ansari and Dennis Bernstein, “Adaptive Input Estimation for Nonminimum-Phase Discrete-Time Systems”, 55th IEEE Conference on Decision and Control, pp. 1159-1164, Las Vegas, 2016.

8. Ahmad Ansari and Dennis Bernstein, “Aircraft Sensor Fault Detection Using State and Input Estimation”, Proceedings of American Control Conference, pp. 5951-5956, Boston, 2016.

9. Ahmad Ansari and Dennis Bernstein, “Adaptive Non-Bayesian State Estimation”, Proceedings of American Control Conference, pp. 6977-6982, Boston, 2016.

10. Ahmad Ansari and Dennis Bernstein, “Adaptive Control of an Aircraft with Uncertain Nonminimum-Phase Dynamics”, Proceedings of American Control Conference, pp. 844-849, Chicago, 2015.

11. Ahmad Ansari, Ming-Jui Yu, and Dennis Bernstein, “Exploration and Mapping of an Unknown Flight Envelope”, 53rd IEEE Conference on Decision and Control, pp. 523-528, Los Angeles, 2014.