Related papers: Almost-global tracking for a rigid body with inter…
This paper addresses the attitude tracking of a rigid body using a quaternion description. Global finite-time attitude controllers are designed with three types of measurements, namely, full states, attitude plus constant-biased angular…
Two-dimensional (planar) rigid-body impact mechanics for application in automobile collisions have been described by a number of researchers over the last several decades. Little has been discussed, however, regarding three-dimensional…
Since the classical proportional-integral-derivative (PID) controller has continued to be the most widely used feedback methods in engineering systems by far, it is crucial to investigate the working mechanism of PID in dealing with…
This paper presents a trajectory-tracking controller for multi-rotor unmanned aerial vehicles (UAVs) in scenarios where only the desired position and heading are known without the higher-order derivatives. The proposed solution modifies the…
This paper proposes a nonlinear optimal guidance law that enables a pursuer to enclose a target within arbitrary geometric patterns, which extends beyond conventional circular encirclement. The design operates using only relative state…
Optimization-based robot control strategies often rely on first-order dynamics approximation methods, as in iLQR. Using second-order approximations of the dynamics is expensive due to the costly second-order partial derivatives of the…
The paper presents a new, robust control algorithm for position trajectory tracking in a 3D space, dedicated to underactuated airships. In order to take into account real characteristics of such vehicles, and to reflect practically…
This paper applies a recently developed geometric PID controller to stabilize a three-link planar bipedal hybrid dynamic walking model. The three links represent the robot torso and two kneeless legs, with an independent control torque…
This work focuses on pose-following, a variant of path-following in which the goal is to steer the system's position and attitude along a path with a moving frame attached to it. Full body motion control, while accounting for the additional…
This paper proposes a model predictive trajectory tracking approach for quadrotors subject to input constraints. Our proposed approach relies on a hierarchical control strategy with an outer-loop feedback generating the required thrust and…
Autonomous racing is a research field gaining large popularity, as it pushes autonomous driving algorithms to their limits and serves as a catalyst for general autonomous driving. For scaled autonomous racing platforms, the computational…
We investigate the superintegrability of rigid body rotors coupled to planar systems. In particular, we study the isotropic harmonic oscillator in two dimensions, with its (central) force acting on the rotor's center of mass constrained to…
This paper presents a new geometric adaptive control system with state inequality constraints for the attitude dynamics of a rigid body. The control system is designed such that the desired attitude is asymptotically stabilized, while the…
Tracked vehicles distribute their weight continuously over a large surface area (the tracks). This distinctive feature makes them the preferred choice for vehicles required to traverse soft and uneven terrain. From a robotics perspective,…
This Technical Note presents a simple control approach for global trajectory tracking and formation control of underactuated surface vessels equipped with only two propellers. The control approach exploits the inherent cascaded structure of…
Proportional-integral-derivative (PID) control is the most widely used in industrial control, robot control and other fields. However, traditional PID control is not competent when the system cannot be accurately modeled and the operating…
This paper formulates an optimal control problem for a system of rigid bodies that are connected by ball joints and immersed in an irrotational and incompressible fluid. The rigid bodies can translate and rotate in three-dimensional space,…
This article presents a path-following control law for autonomous orbital maintenance of small body missions. The control law is robust, stable, and capable of controlling only the orbital geometry, allowing the spacecraft to operate with…
Control theory provides engineers with a multitude of tools to design controllers that manipulate the closed-loop behavior and stability of dynamical systems. These methods rely heavily on insights about the mathematical model governing the…
This work presents proximally optimal predictive control algorithm, which is essentially a model-based lateral controller for steered autonomous vehicles that selects an optimal steering command within the neighborhood of previous steering…