Related papers: Invariant feedback control for the kinematic car o…
This paper proposes a design methodology for non-linear state observers for invariant kinematic systems posed on finite dimensional connected Lie groups, and studies the associated fundamental system structure. The concept of synchrony of…
In this paper, we present a general learning-based framework to automatically visual-servo control the position and shape of a deformable object with unknown deformation parameters. The servo-control is accomplished by learning a feedback…
This paper addresses forward motion control for trajectory tracking and mobile formation coordination for a group of non-holonomic vehicles on SE(2). Firstly, by constructing an intermediate attitude variable which involves vehicles'…
We study control systems invariant under a Lie group with application to the problem of nonlinear trajectory planning. A theory of symmetry reduction of exterior differential systems is employed to demonstrate how symmetry reduction and…
A conceptual and computational framework is proposed for modelling of human sensorimotor control, and is exemplified for the sensorimotor task of steering a car. The framework emphasises control intermittency, and extends on existing models…
In this paper, we present a geometric approach for computing controlled invariant sets for hybrid control systems. While the problem is well studied in the ellipsoidal case, this family is quite conservative for constrained or switched…
This work addresses the problem of designing an equivariant observer for a first order dynamical system on the unit-sphere. Building upon the established case of unit bearing vector dynamics with angular velocity inputs, we introduce an…
This article presents a state feedback control design strategy for the stabilization of a vehicle along a reference collision avoidance maneuver. The stabilization of the vehicle is achieved through a combination of steering, acceleration…
This paper investigates a planar tracking problem between a leader and follower agent. We propose a novel feedback speed control law, paired with a constant bearing steering strategy, to maintain an abreast formation between the two agents.…
This paper investigates the car-following problem and proposes a nonlinear controller that considers driving comfort, safety concerns, steady-state response and transient response. This controller is designed based on the demands of lower…
Motivated by the problem of formation control for vehicles moving at unit speed in three-dimensional space, we are led to models of gyroscopically interacting particles, which require the machinery of curves and frames to describe and…
An impulsive feedback-adaptive control is developed in order to drive trajectories of a dynamical system towards an invariant manifold with fixed and spaced impulsive controls. The approach requires the explicit knowledge of the set of…
For a right-invariant system on a compact Lie group G, I present two methods to design a control to drive the state from the identity to any element of the group. The first method, under appropriate assumptions, achieves exact control to…
This paper investigates the lateral control problem in vehicular path-following when the feedback sensor(s) are mounted at an arbitrary location in the longitudinal symmetric axis. We point out that some existing literature has abused the…
Safe obstacle avoidance and target set stabilization for nonlinear systems using reactive feedback control is under consideration. Based only on local information and by considering virtual dynamics, a safe path is generated online. The…
Quantum tracking control encodes the desired dynamics into a tailored driving field; here, we let the system find its own way there. We propose a real-time feedback control framework in which a proportional controller continuously corrects…
A new framework for adaptive regulation to invariant sets is proposed. Reaching the target dynamics (invariant set) is to be ensured by state feedback while adaptation to parametric uncertainties is provided by additional adaptation…
In order to increase the number of situations in which an intelligent vehicle can operate without human intervention, lateral control is required to accurately guide it in a reference trajectory regardless of the shape of the road or the…
In this paper, we propose an approach to designing online feedback controllers for input-saturated robotic systems evolving on Lie groups by extending the recently developed Sequential Action Control (SAC). In contrast to existing feedback…
The stable combination of optimal feedback policies with online learning is studied in a new control-theoretic framework for uncertain nonlinear systems. The framework can be systematically used in transfer learning and sim-to-real…