Related papers: Tracking control with adaption of kites

We study the minimum time control problem of the launchers. The optimal trajectories of the problem may contain singular arcs, and thus chattering arcs. The motion of the launcher is described by its attitude kinematics and dynamics and…

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…

The orbit tracking of free-evolutionary target system in closed quantum systems is studied in this paper. Based on the concept of system control theory, the unitary transformation is applied to change the time-dependent target function into…

This paper contributes towards the development of motion tracking algorithms for time-critical applications, proposing an infrastructure for solving dynamically the inverse kinematics of highly articulate systems such as humans. We present…

A new dynamic control algorithm in order to direct the trajectory of a glider to a pre-assigned target point is proposed. The algorithms runs iteratively and the approach to the target point is self-correcting. The algorithm is applicable…

The attitude control of a spacecraft is integral to achieving mission success. However, failures in actuators such as reaction wheels are detrimental and can often lead to an early end of mission. We propose a Lyapunov-based adaptive…

Energy harvesting based on tethered kites benefits from exploiting higher wind speeds at higher altitudes. The setup considered in this paper is based on a pumping cycle. It generates energy by winching out at high tether forces, driving an…

This paper addresses the problem of tracking control for robotic vehicles equipped with pivoted unidirectional actuators. Starting from a baseline robust controller that assumes unconstrained inputs, we redesign the control law to be…

Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments. Adaptive control laws can endow even nonlinear systems with good trajectory tracking performance, provided that any uncertain dynamics…

This paper describes the modeling of a custom-made underwater glider capable of flexible maneuvers in constrained areas and proposes a control system. Due to the lack of external actuators, underwater gliders can be greatly influenced by…

In this paper, we have studied the control problem of target-point based path following for car-type vehicles. This special path following task arises from the needs of vision based guidance systems, where a given target-point located ahead…

This paper presents an algorithm for solving the problem of tracking smooth curves by a fixed wing unmanned aerial vehicle travelling with a constant airspeed and under a constant wind disturbance. The algorithm is based on the idea of…

We address the theoretical and practical problems related to the trajectory generation and tracking control of tail-sitter UAVs. Theoretically, we focus on the differential flatness property with full exploitation of actual UAV aerodynamic…

In this article, we address the control problem of unicycle path following, using a rigidly attached target point. The initial path following problem has been transformed into a reference trajectory following problem, using saturated…

Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any…

This paper presents a learning-based tracking control framework for cooperative transport of a rigid payload by multiple aerial manipulators under rigid grasp constraints. A unified geometric model is developed, yielding a coupled…

This paper addresses the three-dimensional path-following guidance problem for unmanned aerial vehicles under explicit actuator constraints. Unlike conventional approaches that assume unbounded control inputs or handle saturation…

This article addresses the problem of data-driven numerical optimal control for unknown nonlinear systems. In our scenario, we suppose to have the possibility of performing multiple experiments (or simulations) on the system. Experiments…

Adaptive control is a critical component of reliable robot autonomy in rapidly changing operational conditions. Adaptive control designs benefit from a disturbance model, which is often unavailable in practice. This motivates the use of…

Information from the sky is important for rescue activity in large-scale disaster or dangerous areas. Observation system using a balloon or an airplane has been studied as an information gathering system from the sky. A balloon observation…