Related papers: High order sufficient conditions for tracking
We present a novel data-driven model predictive control (MPC) approach to control unknown nonlinear systems using only measured input-output data with closed-loop stability guarantees. Our scheme relies on the data-driven system…
In this paper, we define a general class of abstract aerial robotic systems named Laterally Bounded Force (LBF) vehicles, in which most of the control authority is expressed along a principal thrust direction, while in the lateral…
Enforcing safety for dynamical systems is challenging, since it requires constraint satisfaction along trajectory predictions. Equivalent control constraints can be computed in the form of sets that enforce positive invariance, and can thus…
This paper presents an approach to trajectory-centric learning control based on contraction metrics and disturbance estimation for nonlinear systems subject to matched uncertainties. The approach uses deep neural networks to learn uncertain…
In this paper, we present a novel cascade control structure with formal guarantees of uniform almost global asymptotic stability for the state tracking error dynamics of a quadcopter. The proposed approach features a model predictive…
Trajectory data analysis is an essential component for highly automated driving. Complex models developed with these data predict other road users' movement and behavior patterns. Based on these predictions - and additional contextual…
This work introduces two multi-level control strategies to address the problem of guidance and control of underwater vehicles. An outer-loop path-following algorithm and an outer-loop trajectory tracking algorithm are presented. Both…
The success of quantum optimal control for both experimental and theoretical objectives is connected to the topology of the corresponding control landscapes, which are free from local traps if three conditions are met: (1) the quantum…
Space robotics applications, such as Active Space Debris Removal (ASDR), require representative testing before launch. A commonly used approach to emulate the microgravity environment in space is air-bearing based platforms on flat-floors,…
We consider optimal control problems for systems governed by mean-field stochastic differential equations, where the control enters both the drift and the diffusion coefficient. We study the relaxed model, in which admissible controls are…
We consider the monotonic tracking control problem for continuous-time single-input single-output linear systems using output-feedback linear controllers in this paper. We provide the necessary and sufficient conditions for this problem to…
This paper presents a novel set-based model predictive control for tracking, which provides the largest domain of attraction, even with the minimal predictive/control horizon. The formulation - which consists of a single optimization…
Autonomous racing is a research field gaining large popularity, as it pushes autonomous driving algorithms to their limits and serves as a catalyst for general autonomous driving. For scaled autonomous racing platforms, the computational…
In this work, we consider optimality conditions of an optimal control problem governed by an obstacle problem. Here, we focus on introducing a, matrix valued, control variable as the coefficients of the obstacle problem. As it is well…
In this paper, we present a control problem related to a semilinear differential equation with a moving singularity, i.e., the singular point depends on a parameter. The particularity of the controllability condition resides in the fact…
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…
In this paper we present a hierarchical multi-rate control architecture for nonlinear autonomous systems operating in partially observable environments. Control objectives are expressed using syntactically co-safe Linear Temporal Logic…
A control system verification framework is presented for unmanned aerial vehicles using theorem proving. The framework's aim is to set out a procedure for proving that the mathematically designed control system of the aircraft satisfies…
Controllability properties are studied for control-affine systems depending on a parameter and with constrained control values. The uncontrolled systems in dimension two and three are subject to a homoclinic bifurcation. This generates two…
This paper considers the tracking control problem for an unknown nonlinear system with time-varying bounded disturbance subjected to a prescribed performance and input constraints. When performance and input constraints are specified…