Related papers: PI(D) tuning for Flight Control Systems via Increm…
Navigation precision, speed and stability are crucial for safe Unmanned Aerial Vehicle (UAV) flight maneuvers and effective flight mission executions in dynamic environments. Different flight missions may have varying objectives, such as…
This paper presents a data-driven optimal control policy for a micro flapping wing unmanned aerial vehicle. First, a set of optimal trajectories are computed off-line based on a geometric formulation of dynamics that captures the nonlinear…
This paper is concerned with the Proportional Integral (PI) regulation control of the left Neu-mann trace of a one-dimensional semilinear wave equation. The control input is selected as the right Neumann trace. The control design goes as…
This article develops and proposes a geometric nonlinear proportional-integral-derivative (PID) type tracking control scheme on the Lie group of rigid body rotations, SO(3). Like PD-type attitude tracking control schemes that have been…
By optimizing the predicted performance over a receding horizon, model predictive control (MPC) provides the ability to enforce state and control constraints. The present paper considers an extension of MPC for nonlinear systems that can be…
Proportional-Integrator-Derivative (PID) controller is used in a wide range of industrial and experimental processes. There are a couple of offline methods for tuning PID gains. However, due to the uncertainty of model parameters and…
In this work, we establish a convenient similarity between an adaptive backstepping control law and a standard proportional-integral-derivative (PID) controller for a class of second-order systems. The extracted similarity provides a deeper…
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
This paper studies data-driven iterative learning control (ILC) for linear time-invariant (LTI) systems with unknown dynamics, output disturbances and input box-constraints. Our main contributions are: 1) using a non-parametric data-driven…
This paper introduces a control architecture for real-time and onboard control of Unmanned Aerial Vehicles (UAVs) in environments with obstacles using the Model Predictive Path Integral (MPPI) methodology. MPPI allows the use of the full…
This paper proposes a nonlinear guidance strategy capable of intercepting a constant-velocity, non-maneuvering target while strictly satisfying the prescribed bounds on the control input (commanded acceleration). Unlike conventional…
The work show in this paper progresses through a sequence of physics-based increasing fidelity models that are used to design the robot controllers that respect the limits of the robot capabilities, develop a reference simple controller…
This paper presents the design and robustness analysis of fractional and integer order PID controllers for the control of a non-linear industrial process in the presence of parametric uncertainness and external disturbances. The nonlinear…
In this paper, we introduce Path Integral Networks (PI-Net), a recurrent network representation of the Path Integral optimal control algorithm. The network includes both system dynamics and cost models, used for optimal control based…
A variety of control systems have been proposed for aircraft autopilot systems. Traditional approaches such as proportional controller and conventional PID (CPID) controller are widely used. PID controller has a good static performance…
This paper introduces a continuous-time constrained nonlinear control scheme which implements a model predictive control strategy as a continuous-time dynamic system. The approach is based on the idea that the solution of the optimal…
This paper applies the recently developed framework for integral control on nonlinear spaces to two non-standard cases. First, we show that the property of perfect target stabilization in presence of actuation bias holds also if this bias…
The paper deals with analysis and design of sliding mode control systems modeled by finite-dimensional integro-differential equations. Filippov method and equivalent control approach are extended to a class of nonlinear discontinuous…
This paper proposes a general incremental policy iteration adaptive dynamic programming (ADP) algorithm for model-free robust optimal control of unknown nonlinear systems. The approach integrates recursive least squares estimation with…
Proportional-integral-derivative (PID) controller is widely used across various industrial process control applications because of its straightforward implementation. However, it can be challenging to fine-tune the PID parameters in…