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In this paper, the tracking control problem of an Euler-Lagrange system is addressed with regard to parametric uncertainties, and an adaptive-robust control strategy, christened Time-Delayed Adaptive Robust Control (TARC), is presented.…
Autonomous vehicles are the upcoming solution to most transportation problems such as safety, comfort and efficiency. The steering control is one of the main important tasks in achieving autonomous driving. Model predictive control (MPC) is…
This paper proposes a fault-tolerant control strategy based on a tilt-rotor quadcopter prototype, utilizing nonlinear model predictive control to maintain both attitude and position stability in the event of rotor failure. The control…
The basic module for the solution of the minimum time optimal control of a car-like vehicle is herein presented. The vehicle is subject to the effect of laminar (linear) and aerodynamic (quadratic) drag, taking into account the asymmetric…
This article aims to derive a practical tracking control algorithm for flexible air-breathing hypersonic vehicles (FAHVs) with lumped disturbances, unmeasurable states and actuator failures. Based on the framework of the backstepping…
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…
We present an orientation adaptive controller to compensate for the effects of highly constrained environments on continuum manipulator actuation. A transformation matrix updated using optimal estimation techniques from optical flow…
Networked control strategies based on limited information about the plant model usually results in worse closed-loop performance than optimal centralized control with full plant model information. Recently, this fact has been established by…
In this paper an adaptive sliding mode control approach for a quadrotor stabilization and trajectory tracking is presented. The closed loop control consists of three parts; the first part is quadrotor altitude and attitude stabilization,…
To maintain structural integrity and functionality during the designed life cycle of a structure, engineers are expected to accommodate for natural hazards as well as operational load levels. Active control systems are an efficient solution…
Model-free approaches for reinforcement learning (RL) and continuous control find policies based only on past states and rewards, without fitting a model of the system dynamics. They are appealing as they are general purpose and easy to…
Trajectory optimization is a popular strategy for planning trajectories for robotic systems. However, many robotic tasks require changing contact conditions, which is difficult due to the hybrid nature of the dynamics. The optimal sequence…
This paper studies the data-driven synthesis of linear quadratic integral (LQI) controllers for continuous-time systems. The objective is to achieve optimal state-feedback control with integral action for reference tracking using only…
In this paper, we consider the problem of set-point tracking for a discrete-time plant with unknown plant parameters belonging to a convex and compact uncertainty set. We carry out parameter estimation for an associated auxiliary plant, and…
A nonparametric adaptive controller is proposed for crane control where the payload tracks a desired trajectory with feedback from the payload position. The controller is based on a novel version of partial feedback linearization where the…
This paper presents the comparison of two non-linear model-based control strategies for autonomous cars. A control oriented model of vehicle based on a bicycle model is used. The two control strategies use a model reference approach. Using…
This paper presents a systematic approach to the design of a robust dynamic state feedback controller using copies of the plant nonlinearities, which is based on the use of IQCs and minimax LQR control. The approach combines a linear state…
In this paper, we propose a novel dynamic state-feedback controller for polytopic linear parameter-varying (LPV) systems with constant input matrix. The controller employs a projected gradient flow method to continuously improve its control…
This paper describes the design of a linear quadratic gaussian (LQG) for trajectory tracking control of UAV Bicopter. In this work, disturbance in the form of payload significantly affects the trajectory tracking control process on the UAV…
The precise and safe control of heavy material handling machines presents numerous challenges due to the hard-to-model hydraulically actuated joints and the need for collision-free trajectory planning with a free-swinging end-effector tool.…