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Robotic in-hand manipulation has been a long-standing challenge due to the complexity of modelling hand and object in contact and of coordinating finger motion for complex manipulation sequences. To address these challenges, the majority of…
This paper presents a hierarchical multivariable control and constraint management approach for an air supply system for a proton exchange membrane fuel cell (PEMFC) system. The control objectives are to track desired compressor mass…
This paper addresses the problem of hierarchical task control, where a robotic system must perform multiple subtasks with varying levels of priority. A commonly used approach for hierarchical control is the null-space projection technique,…
This paper studies the performance of a model-free LQR based PID (i-LQR-PID) controller designed for tracking control problem of a 2-DoF laboratory helicopter. The control problem addressed in 2-DoF helicopter system aims to track the…
The multiple spacecraft guidance problem for proximity flight in libration point orbit is considered. A nonlinear optimal control problem with continuous-time path constraints enforcing minimum separation between each spacecraft is…
This paper proposes a joint optimization of pilot subcarrier allocation and non-orthogonal sequence for multiple-input-multiple-output (MIMO)-orthogonal frequency-division multiplexing (OFDM) systems under compressed sensing (CS)-based…
This paper proposes a real-time model predictive control (MPC) scheme to execute multiple tasks using robots over a finite-time horizon. In industrial robotic applications, we must carefully consider multiple constraints for avoiding joint…
A complete model of the motion of a quadcopter along a smooth spatial trajectory is presented. Based on the model, a robust algorithm is proposed for controlling a quadcopter using measurements of linear coordinates and yaw angle. By…
Global position control for underactuated bipedal walking is a challenging problem due to the lack of actuation on the feet of the robots. In this paper, we apply the Hybrid-Linear Inverted Pendulum (H-LIP) based stepping on 3D…
This letter shows that optimizing the transmit powers along with optimally designed nonorthogonal pilots can significantly reduce pilot contamination and improve the overall throughput of the uplink multi-cell massive multiple-input…
This paper presents a novel adaptive fast smooth second-order sliding mode control for the attitude tracking of the three degree-of-freedom (3-DOF) helicopter system with lumped disturbances. Combining with a non-singular integral sliding…
In this paper, we present a novel idea to improve the transient performance of the existing Simple Adaptive Control architecture, without requiring high adaptation gains. Improvement in performance is achieved by incorporating the closed…
This paper shows how to find lower bounds on, and sometimes solve globally, a large class of nonlinear optimal control problems with impulsive controls using semi-definite programming (SDP). This is done by relaxing an optimal control…
The application of nonlinear control schemes to electro-hydraulic actuators often requires several alterations in the design of the controllers during their implementation. This is to overcome challenges that frequently arise in such…
A straight forward application of feedback linearization to the missile autopilot design for acceleration control may be limited due to the nonminimum characteristics and the model uncertainties. As a remedy, this paper presents a cascade…
This paper presents a multi-step procedure to construct the dynamic motion model of an autonomous quadcopter, identify the model parameters, and design a model-based nonlinear trajectory tracking controller. The aim of the proposed method…
In this paper, we present a cascade control structure to address the trajectory tracking problem for quadcopters, ensuring uniform global asymptotic stability of the state tracking error dynamics. An MPC strategy based on a 12-dimensional…
Solving motion tasks autonomously and accurately is a core ability for intelligent real-world systems. To achieve genuine autonomy across multiple systems and tasks, key challenges include coping with unknown dynamics and overcoming the…
Conjunction analysis and maneuver planning for spacecraft collision avoidance remains a manual and time-consuming process, typically involving repeated forward simulations of hand-designed maneuvers. With the growing density of satellites…
This paper considers the controllability analysis and fault tolerant control problem for a class of hexacopters. It is shown that the considered hexacopter is uncontrollable when one rotor fails, even though the hexacopter is over-actuated…