Related papers: Drag-Tracking Guidance for Entry Vehicles Without …
This paper studies the drag-tracking guidance design problem of uncertain entry vehicles. With employing a Nussbaum type function to deal with input saturation constraint, an output feedback guidance law (bank angle magnitude) with a…
A ship steering control is designed for a nonlinear maneuvering model whose rudder manipulation is constrained in both magnitude and rate. In our method, the tracking problem of the target heading angle with input constraints is converted…
A speed-sensorless state feedback controller for induction machines (IMs) with LC filter is proposed. The estimation of speed and remaining states is based on a speed-adaptive observer, requiring only the measurement of the filter input…
High performance tracking control can only be achieved if a good model of the dynamics is available. However, such a model is often difficult to obtain from first order physics only. In this paper, we develop a data-driven control law that…
We investigate the conditions leading to large drag force fluctuations in granular materials. The study is based on a set of experimental drag tests, which involve pulling a plate vertically through a cohesionless granular material. In…
This paper presents a robust path following control method for vehicles that explicitly considers steering resistance dynamics to improve tracking accuracy. Conventional methods typically treat the steering angle as a direct control input;…
We study in this paper the problem of adaptive trajectory tracking control for a class of nonlinear systems with parametric uncertainties. We propose to use a modular approach, where we first design a robust nonlinear state feedback which…
In the real-world, self-driving vehicles are required to achieve steering maneuvers in both uncontrolled and uncertain environments while maintaining high levels of safety and passengers' comfort. Ignoring these requirements would…
This paper presents an approach to target tracking that is based on a variable-gain integrator and the Newton-Raphson method for finding zeros of a function. Its underscoring idea is the determination of the feedback law by measurements of…
We investigate open- and closed-loop active control for aerodynamic drag reduction of a car model. Turbulent flow around a blunt-edged Ahmed body is examined at $Re_{H}\approx3\times10^{5}$ based on body height. The actuation is performed…
In this paper, the notion of contraction is used to solve the trajectory-tracking problem for a class of mechanical systems. Additionally, we propose a dynamic extension to remove velocity measurements from the controller while rejecting…
This paper considers a power transmission network characterized by interconnected nonlinear swing dynamics on generator buses. At the steady state, frequencies across different buses synchronize to a common nominal value such as $50$Hz or…
In this paper we address the problem of tracking control of nonlinear systems via contraction analysis. The necessary conditions of the systems which can achieve universal asymptotic tracking are studied under several different cases. We…
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…
This paper proposes a novel unit-quaternion observer-based controller for attitude tracking (attitude and angular velocity) with guaranteed transient and steady-state performance. The proposed approach is computationally cheap and can…
This paper proposes an output feedback controller capable of ensuring steady-state offset-free tracking for ramp and sinusoidal reference signals while ensuring local stability and state and input constraints fulfillment. The proposed…
This paper develops a guidance law for nonlinear interception using input-output feedback linearization (IOL). The engagement between a pursuer and an evader is modeled using point-mass dynamics, and a baseline IOL-based guidance law is…
We present a novel guidance law that uses observations consisting solely of seeker line of sight angle measurements and their rate of change. The policy is optimized using reinforcement meta-learning and demonstrated in a simulated terminal…
In this paper, we investigate the visual tracking problem for robotic systems without image-space velocity measurement, simultaneously taking into account the uncertainties of the camera model and the manipulator kinematics and dynamics. We…
Complex autonomous driving, such as drifting, requires high-precision and high-frequency pose information to ensure accuracy and safety, which is notably difficult when using only onboard sensors. In this paper, we propose a drift…