TY  - CHAP
AU  - Kimathi, Stephen
AU  - Lantos, Béla
ED  - IEEE, Publ.
TI  - Simultaneous attitude and position tracking using dual quaternion parameterized dynamics
T2  - IEEE 22nd World Symposium on Applied Machine Intelligence and Informatics : SAMI 2024 : Proceedings
PB  - IEEE
CY  - Danvers (MA)
SN  - 9798350317206
PY  - 2024
SP  - 309
EP  - 314
PG  - 6
DO  - 10.1109/SAMI60510.2024.10432898
UR  - https://m2.mtmt.hu/api/publication/34742516
ID  - 34742516
N1  - IEEE Control Systems Chapter; IEEE Hungary Section; IEEE Joint Chapter of IES and RAS; IEEE SMC Chapter            
            Conference code: 197504            
            Export Date: 18 March 2024            
            Correspondence Address: Kimathi, S.; Budapest University of Technology and Economics, Hungary; email: kimathi@iit.bme.hu
AB  - This paper presents the simultaneous attitude and position control of rigid bodies using the unit dual quaternion. A dual quaternion is a compound of a unit quaternion and a translational vector, using the dual number formalization, such that the real part represents the rotation and the dual part, the translation transformation. Since the unit dual quaternion can be used to represent the rigid body dynamics in the 3D space, then the error dual quaternion can be used to design feedback control laws for both set-point stabilization, and attitude and position tracking. Simulation results using a rigid-body model are presented to show the performance of the dual quaternion formalism for simultaneous attitude and position control. © 2024 IEEE.
LA  - English
DB  - MTMT
ER  - 

TY  - JOUR
AU  - Alsudany, Huda
AU  - Lantos, Béla
TI  - Extended Linear Regression and Interior Point Optimization for Identification of Model Parameters of Fixed Wing UAVs
JF  - ACTA POLYTECHNICA HUNGARICA
J2  - ACTA POLYTECH HUNG
VL  - 21
PY  - 2024
IS  - 6
SP  - 69
EP  - 88
PG  - 20
SN  - 1785-8860
DO  - 10.12700/APH.21.6.2024.6.4
UR  - https://m2.mtmt.hu/api/publication/34689545
ID  - 34689545
LA  - English
DB  - MTMT
ER  - 

TY  - CHAP
AU  - Kimathi, Stephen
AU  - Lantos, Béla
TI  - PD control and the unwinding effect in quaternion parameterized attitude control
T2  - IEEE 27th International Conference on Intelligent Engineering Systems 2023 (INES 2023)
PB  - IEEE Hungary Section
CY  - Budapest
SN  - 9798350328516
PY  - 2023
SP  - 67
EP  - 72
PG  - 6
DO  - 10.1109/INES59282.2023.10297790
UR  - https://m2.mtmt.hu/api/publication/34256591
ID  - 34256591
N1  - Export Date: 14 December 2023
LA  - English
DB  - MTMT
ER  - 

TY  - JOUR
AU  - Kimathi, Stephen
AU  - Lantos, Béla
TI  - Robust Aerodynamic Parameter Estimation of Unmanned Aircraft Based on Two-step Identification
JF  - PERIODICA POLYTECHNICA-ELECTRICAL ENGINEERING AND COMPUTER SCIENCE
J2  - PERIOD POLYTECH ELECTR ENG COMP SCI
VL  - 67
PY  - 2023
IS  - 4
SP  - 394
EP  - 402
PG  - 9
SN  - 2064-5260
DO  - 10.3311/PPee.21948
UR  - https://m2.mtmt.hu/api/publication/34256533
ID  - 34256533
N1  - Export Date: 16 November 2023            
            Correspondence Address: Kimathi, S.; Department of Control Engineering and Information Technology, Magyar tudósok krt. 2., Hungary; email: kimathi@iit.bme.hu
AB  - This paper presents the estimation of stability and control derivatives of an unmanned aircraft. The aerodynamics are described using regressors composed of velocity, angular rates, flow angles and control surface deflections. The flight data is generated from numerical simulation of postulated equations of motion describing the aerodynamics model. Least squares based on the equation error method is used to estimate the parameters representing the different force and moment aerodynamic coefficients. Statistical analysis is done on the estimates to determine the accuracy and adequacy of the estimates to describe the aerodynamic model. A dynamic simulation based on the identified aerodynamic model is used to improve the parameter estimates through regression of the errors between the flight data and the model response. The aircraft under consideration is a scaled Yak-54 fixed wing unmanned aerial vehicle.
LA  - English
DB  - MTMT
ER  - 

TY  - CHAP
AU  - Alsudany, Huda
AU  - Lantos, Béla
ED  - Szakál, Anikó
TI  - Prediction of the Navigation Angles Using Random Forest Algorithm And Real Flight Data of UAVs
T2  - IEEE 20th Jubilee International Symposium on Intelligent Systems and Informatics (SISY 2022)
PB  - IEEE
CY  - Szabadka
SN  - 9781665489881
PY  - 2022
SP  - 97
EP  - 102
PG  - 6
DO  - 10.1109/SISY56759.2022.10036286
UR  - https://m2.mtmt.hu/api/publication/33213177
ID  - 33213177
LA  - English
DB  - MTMT
ER  - 

TY  - CHAP
AU  - Kimathi, Stephen
AU  - Lantos, Béla
ED  - Szakál, Anikó
TI  - Quaternion based attitude control of a maneuvering fixed wing UAV
T2  - 2022 IEEE 26th International Conference on Intelligent Engineering Systems (INES 2022)
PB  - IEEE Hungary Section
CY  - Budapest
SN  - 9781665492089
PY  - 2022
SP  - 261
EP  - 266
PG  - 6
DO  - 10.1109/INES56734.2022.9922611
UR  - https://m2.mtmt.hu/api/publication/33212858
ID  - 33212858
LA  - English
DB  - MTMT
ER  - 

TY  - CHAP
AU  - Kimathi, Stephen
AU  - Lantos, Béla
ED  - Szakál, Anikó
TI  - Unmanned Aerial Vehicles Swarm Flocking Architectures: An Overview
T2  - IEEE 10th Jubilee International Conference on Computational Cybernetics and Cyber-Medical Systems ICCC 2022
PB  - IEEE Hungary Section
CY  - Budapest
SN  - 9781665481762
PY  - 2022
SP  - 383
EP  - 388
PG  - 6
DO  - 10.1109/ICCC202255925.2022.9922828
UR  - https://m2.mtmt.hu/api/publication/33061870
ID  - 33061870
LA  - English
DB  - MTMT
ER  - 

TY  - JOUR
AU  - Alsudany, Huda
AU  - Lantos, Béla
TI  - Comparison of Adaptive Fuzzy EKF and Adaptive Fuzzy UKF for State Estimation of UAVs Using Sensor Fusion
JF  - PERIODICA POLYTECHNICA-ELECTRICAL ENGINEERING AND COMPUTER SCIENCE
J2  - PERIOD POLYTECH ELECTR ENG COMP SCI
VL  - 66
PY  - 2022
IS  - 3
SP  - 215
EP  - 226
PG  - 12
SN  - 2064-5260
DO  - 10.3311/PPee.20361
UR  - https://m2.mtmt.hu/api/publication/33056361
ID  - 33056361
AB  - Development of an Adaptive Fuzzy Extended Kalman Filter (AFEKF) and an Adaptive Fuzzy Unscented Kalman Filter (AFUKF) for the state estimation of unmanned aerial vehicles (UAVs) were presented in this paper based on real flight data of a fixed wing airplane. The Adaptive Neuro Fuzzy extension helps to estimate the values of the EKF's and UKF's Rk covariance matrix at each sampling instant when measurement update step is carried out. The ANFIS monitors the EKF's and UKF's performances attempt to eliminate the gap between theoretical and real innovation sequences' covariance. The investigations show that AFUKF can provide better performance in accuracy and less error than the AFEKF in case of real flight data for maneuvering fixed wing UAVs.
LA  - English
DB  - MTMT
ER  - 

TY  - JOUR
AU  - Kimathi, Stephen
AU  - Lantos, Béla
TI  - Modelling and Attitude Control of an Agile Fixed Wing UAV based on Nonlinear Dynamic Inversion
JF  - PERIODICA POLYTECHNICA-ELECTRICAL ENGINEERING AND COMPUTER SCIENCE
J2  - PERIOD POLYTECH ELECTR ENG COMP SCI
VL  - 66
PY  - 2022
IS  - 3
SP  - 227
EP  - 235
PG  - 9
SN  - 2064-5260
DO  - 10.3311/PPee.20287
UR  - https://m2.mtmt.hu/api/publication/33056359
ID  - 33056359
N1  - Export Date: 18 August 2022            
            Correspondence Address: Kimathi, S.; Department of Control Engineering and Information Technology, Magyar tudósok krt. 2., Hungary; email: kimathi@iit.bme.hu
LA  - English
DB  - MTMT
ER  - 

TY  - CHAP
AU  - Bodó, Zsófia
AU  - Lantos, Béla
ED  - Kiss, Bálint
ED  - Harmati, István
ED  - Taqvi, Z
TI  - Nonlinear control of maneuvering fixed wing UAVs using quaternion logarithm
T2  - 2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR)
PB  - IEEE
CY  - Piscataway (NJ)
SN  - 9781665404792
PY  - 2020
PG  - 6
DO  - 10.1109/ISMCR51255.2020.9263760
UR  - https://m2.mtmt.hu/api/publication/31913991
ID  - 31913991
LA  - English
DB  - MTMT
ER  -