Related papers: Symmetry Reduction, Contact Geometry and Nonlinear…
Contact reduction is very closely related to symplectic reduction, but it allows symmetries that are not manifest in Hamiltonian mechanics and moreover, solution of the reduced problems yields solution of the original problem without…
In this paper, a novel design scheme is introduced to solve the optimal control problem for nonlinear systems with unsymmetrical and state-dependent input constraints. By introducing an initial stabilizing control policy as the baseline of…
In this work, we investigate the state stabilization and trajectory tracking problems of underactuated surface ships with full state model of having non-diagonal inertia and damping matrices. By combining the novel state transformations,…
We propose an approach to trajectory optimization for piecewise polynomial systems based on the recently proposed graphs of convex sets framework. We instantiate the framework with a convex relaxation of optimal control based on occupation…
We present a methodology that extends invariant manifold theory to a class of autonomous piecewise linear systems with nonsmoothness at the equilibrium, providing a framework for model order reduction in mechanical structures with compliant…
We present a novel approach to control design for nonlinear systems which leverages model-free policy optimization techniques to learn a linearizing controller for a physical plant with unknown dynamics. Feedback linearization is a…
This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main advantage of the formulation of the dynamic is that it does…
Accurate prediction of shallow water flows relies on precise bottom topography data, yet direct bathymetric surveys are expensive and time-consuming. In contrast, remote sensing platforms such as radar or satellite altimetry provide…
This work addresses the problem of constrained motion control of the uncrewed surface vessels. The constraints are imposed on states/inputs of the vehicles due to the physical limitations, mission requirements, and safety considerations. We…
This paper aims to increase the safety and reliability of executing trajectories planned for robots with non-trivial dynamics given a light-weight, approximate dynamics model. Scenarios include mobile robots navigating through workspaces…
Controlling marine vehicles in challenging environments is a complex task due to the presence of nonlinear hydrodynamics and uncertain external disturbances. Despite nonlinear model predictive control (MPC) showing potential in addressing…
High performance trajectory tracking control of quadrotor vehicles is an important challenge in aerial robotics. Symmetry is a fundamental property of physical systems and offers the potential to provide a tool to design high-performance…
In this paper, we develop a computationally-efficient approach to minimum-time trajectory optimization using input-output data-based models, to produce an end-to-end data-to-control solution to time-optimal planning/control of dynamic…
Accurate tracking of planned trajectories in the presence of perturbations is an important problem in control and robotics. Symmetry is a fundamental mathematical feature of many dynamical systems and exploiting this property offers the…
In this paper we present a direct adaptive control method for a class of uncertain nonlinear systems with a time-varying structure. We view the nonlinear systems as composed of a finite number of ``pieces,'' which are interpolated by…
Many robotics applications, from object manipulation to locomotion, require planning methods that are capable of handling the dynamics of contact. Trajectory optimization has been shown to be a viable approach that can be made to support…
Contraction theory is an analytical tool to study differential dynamics of a non-autonomous (i.e., time-varying) nonlinear system under a contraction metric defined with a uniformly positive definite matrix, the existence of which results…
Mechanical systems naturally evolve on principal bundles describing their inherent symmetries. The ensuing factorization of the configuration manifold into a symmetry group and an internal shape space has provided deep insights into the…
Left-invariant optimal control problems on Lie groups form an important class of problems with big symmetry group. They are interesting from the theoretical point of view since they often can be completely studied, and general features can…
Control contraction metrics (CCMs) are a new approach to nonlinear control design based on contraction theory. The resulting design problems are expressed as pointwise linear matrix inequalities and are and well-suited to solution via…