Related papers: Linear Parameter Varying Model Identification for …
Standard model-based control design deteriorates when the system dynamics change during operation. To overcome this challenge, online and adaptive methods have been proposed in the literature. In this work, we consider the class of…
We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…
This dissertation presents nonlinear tracking control systems for quadrotor unmanned aerial vehicles (UAV) under the influence of uncertainties. Assuming that there exist unstructured disturbances in the translational dynamics and the…
This paper considers the problem of parameter identification for a multirobot system. We wish to understand when is it feasible for an adversarial observer to reverse-engineer the parameters of tasks being performed by a team of robots by…
In this paper, we investigate a secure communication architecture based on unmanned aerial vehicle (UAV), which enhances the security performance of the communication system through UAV trajectory optimization. We formulate a control…
We present the identification of the non-linear dynamics of a novel hovercraft design, employing end-to-end deep learning techniques. Our experimental setup consists of a hovercraft propelled by racing drone propellers mounted on a…
For affine linear parameter-varying (LPV) systems, this paper develops two parameter reduction methods for reducing the dimension of the parameter space. The first method achieves the complexity reduction by transforming the affine LPV…
The benefits of legged locomotion shown in nature overcome challenges such as obstacles or terrain smoothness typically encountered with wheeled vehicles. This paper evaluates the benefits of using optimal control on a single leg hopper…
Learning identifiable representations and models from low-level observations is helpful for an intelligent spacecraft to complete downstream tasks reliably. For temporal observations, to ensure that the data generating process is provably…
This paper highlights the significance of the rotor dynamics in control design for small-scale aerobatic helicopters, and proposes two singularity free robust attitude tracking controllers based on the available states for feedback. 1. The…
The paper discusses a novel vision-based estimation and control approach to enable fully autonomous tracking and landing of vertical take-off and landing (VTOL) capable unmanned aerial vehicles (UAVs) on moving platforms without relying on…
This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to many existing control strategies, which do not consider…
This paper reports a robust scheme for topology identification and control of networks running on linear dynamics. In the proposed method, the unknown network is enforced to asymptotically follow a reference dynamics using the combination…
This paper presents a novel approach for optical flow control of Micro Air Vehicles (MAVs). The task is challenging due to the nonlinearity of optical flow observables. Our proposed Incremental Nonlinear Dynamic Inversion (INDI) control…
This paper deals with the robust stability analysis of linear systems, subject to time-varying parameters. The Parameter Dependent Lyapunov Function are considered, assuming that the temporal derivative of the parameters are bounded. Some…
Visual object tracking has significantly promoted autonomous applications for unmanned aerial vehicles (UAVs). However, learning robust object representations for UAV tracking is especially challenging in complex dynamic environments, when…
Unmanned aerial vehicles (UAVs) have been widely adopted in various real-world applications. However, the control and optimization of multi-UAV systems remain a significant challenge, particularly in dynamic and constrained environments.…
This paper presents an image-based visual servo control (IBVS) method for a first-person-view (FPV) quadrotor to conduct aggressive aerial tracking. There are three major challenges to maneuvering an underactuated vehicle using IBVS: (i)…
This paper presents the development of a sliding mode controller using the backstepping approach. The controller is employed to synthesize tracking errors and Lyapunov functions. A novel state-space representation is formulated by…
Aerial robots can enhance their safe and agile navigation in complex and cluttered environments by efficiently exploiting the information collected during a given task. In this paper, we address the learning model predictive control problem…