Related papers: Optimal Tracking Controller Design for a Small Sca…
Controller performance in quadrotor trajectory tracking depends heavily on parameter tuning, yet standard approaches often rely on fixed, manually tuned parameters that sacrifice task-specific performance. We present Trajectory-Aware…
This work is focused on optimal control of mechanical compression refrigeration systems. A reduced-order state-space model based on the moving boundary approach is proposed for the canonical cycle, which eases the controller design. The…
We consider a system that is exactly controllable. For given initial state, terminal state and objective function, an optimal control is often well-defined. Such an optimal control has the disadvantage that although it works perfectly well…
In this paper a geometric approach to the trajectory tracking control of Unmanned Aerial Vehicles with thrust vectoring capabilities is proposed. The control design is suitable for aerial systems that allow to effectively decouple position…
Interest in the coaxial compound helicopter (CCH) has been increasing in the civil aviation and engineering community for its high-speed and high-maneuverability features, and is likely to continue to do so for the foreseeable future. Since…
This note is addressed to giving a short introduction to control theory of stochastic systems, governed by stochastic differential equations in both finite and infinite dimensions. We will mainly explain the new phenomenon and difficulties…
This brief proposes a quasi time-fuel optimal control strategy to solve the dynamic tracking problem of unmanned systems when fuel and control input are limited. This kind of motion planning and control strategy could bring the biggest…
Solving complex optimal control problems have confronted computational challenges for a long time. Recent advances in machine learning have provided us with new opportunities to address these challenges. This paper takes model predictive…
Trains are a corner stone of public transport and play an important role in daily life. A challenging task in train operation is to avoid skidding and sliding during fast changes of traction conditions, which can, for example, occur due to…
We investigate optimal control of dynamical systems which are affine, i.e., linear in control, but nonlinear in state. The control task is to enforce the system state to follow a prescribed desired trajectory as closely as possible, a task…
Trajectory following is one of the complicated control problems when its dynamics are nonlinear, stochastic and include a large number of parameters. The problem has significant difficulties including a large number of trials required for…
Today's control systems are often characterized by modularity and safety requirements to handle complexity, resulting in hierarchical control structures. Although hierarchical model predictive control offers favorable properties, achieving…
This note proposes a general control approach, called vector-field guided constraint-following control, to solve the dynamics control problem of geometric path-following for a class of uncertain mechanical systems. More specifically, it…
The vertical trajectory optimization for the en route descent phase is studied in the presence of both along track and cross winds, which are both modeled as functions of altitude. The flight range covers some portion of a cruise segment…
Current research suggests the use of a liner quadratic performance index for optimal control of regulators in various applications. Some examples include correcting the trajectory of rocket and air vehicles, vibration suppression of…
This paper presents a framework for controlled emergency landing of a quadcopter, experiencing a rotor failure, away from sensitive areas. A complete mathematical model capturing the dynamics of the system is presented that takes the…
To improve safety and energy efficiency, autonomous vehicles are expected to drive smoothly in most situations, while maintaining their velocity below a predetermined speed limit. However, some scenarios such as low road adherence or…
This paper presents a continuous-time output feedback adaptive control technique for stabilization and tracking control problems. The adaptive controller is motivated by the classical discrete-time retrospective cost adaptive control…
A safe controller for multicopter is proposed using control barrier function. Multicopter dynamics are reformulated to deal with mixed-relative-degree and non-strict-feedback-form dynamics, and a time-varying safe backstepping controller is…
This work presents proximally optimal predictive control algorithm, which is essentially a model-based lateral controller for steered autonomous vehicles that selects an optimal steering command within the neighborhood of previous steering…