Related papers: Semi-active Suspension Control using Modern Method…
This paper considers gain-scheduling of very strictly passive (VSP) subcontrollers using scheduling matrices. The use of scheduling matrices, over scalar scheduling signals, realizes greater design freedom, which in turn can improve…
In the realm of autonomous vehicle technologies and advanced driver assistance systems, precise and reliable path tracking controllers are vital for safe and efficient navigation. However the presence of dead time in the vehicle control…
This article concerns the development of the Vector Field Orientation - Active Disturbance Rejection (VFO-ADR) cascaded path-following controller for underactuated vehicles moving in a 3-dimensional space. The proposed concept of a cascaded…
In this paper, we consider the tracking control problem for robot manipulators which are affected by constant bounded disturbances. Three control schemes are applied for the problem, which composed of integral action and tracking…
The use of multivalued controls derived from a special maximal monotone operator are studied in this note. Starting with a strictly passive linear system (with possible parametric uncertainty and external disturbances) a multivalued control…
This paper highlights the significance of the rotor dynamics in control design for small-scale aerobatic helicopters, and proposes two singularity free robust attitude tracking controllers based on the available states for feedback. 1. The…
This paper presents a new model-based algorithm that computes predictive optimal controls on-line and in closed loop for traditionally challenging nonlinear systems. Examples demonstrate the same algorithm controlling hybrid impulsive,…
The selection of an appropriate control strategy is essential for ensuring safe operation in autonomous driving. While numerous control strategies have been developed for specific driving scenarios, a comprehensive comparative assessment of…
Attitude stabilization of unmanned aerial vehicles (UAVs) in uncertain environments presents significant challenges due to nonlinear dynamics, parameter variations, and sensor limitations. This paper presents a comparative study of…
In this paper we use an affine connection formulation to study an optimal control problem for a class of nonholonomic, under-actuated mechanical systems. In particular, we aim at minimizing the norm-squared of the control input to move the…
We present a holistically designed three layer control architecture capable of outperforming a professional driver racing the same car. Our approach focuses on the co-design of the motion planning and control layers, extracting the full…
In this article, we present a long-duration autonomy approach for the control of connected and automated vehicles (CAVs) operating in a transportation network. In particular, we focus on the performance of CAVs at traffic bottlenecks,…
In this work we present a whole-body Nonlinear Model Predictive Control approach for Rigid Body Systems subject to contacts. We use a full dynamic system model which also includes explicit contact dynamics. Therefore, contact locations,…
With the development of autonomous driving technology, there are increasing demands for vehicle control, and MPC has become a widely researched topic in both industry and academia. Existing MPC control methods based on vehicle kinematics or…
Safety in dynamic systems with prevalent uncertainties is crucial. Current robust safe controllers, designed primarily for uni-modal uncertainties, may be either overly conservative or unsafe when handling multi-modal uncertainties. To…
This paper presents a framework for stabilizing the Dubins vehicle model to zero in finite time (deadbeat parking) by interpreting distance as a time-like variable. We develop control laws that bring the system to a desired position and…
We propose a new method for the problem of controlling linear dynamical systems under partial observation and adversarial disturbances. Our new algorithm, Double Spectral Control (DSC), matches the best known regret guarantees while…
The paper addresses the stabilization of nonlinear systems with semi-quadratic cost: quadratic with respect to controls and nonlinear for state variables. Paper presents the effective new feedback synthesis procedure. The novel feedback…
In this paper, we propose a new model predictive control (MPC) formulation for autonomous driving. The novelty of our MPC stems from the following results. Firstly, we adopt an alternating minimization approach wherein linear velocities and…
Despite the extensive application of nonlinear Model Predictive Control (MPC) in automated driving, balancing its computational efficiency with respect to the control performance and constraint satisfaction remains a challenge in emergency…