Related papers: Attitude and angular velocity tracking for a rigid…
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…
The paper solves the problem of tracking control of a quadrotor with unmeasurable pitch and roll angles based on the geometric approach with the use of the enhanced extended observer and the internal model. The proposed approach makes it…
The Earth, a temporal complex system, is witnessing a shift in research on its coordinate system, moving away from conventional static positioning toward embracing dynamic modeling. Early positioning concentrates on static natural…
This paper addresses the global exponential attitude tracking of a spacecraft when gyro measurements are corrupted by bias. Based on contraction analysis, an exponentially convergent nonlinear observer is designed first to estimate the gyro…
Accurate estimation of the relative attitude and angular velocity between two rigid bodies is fundamental in aerospace applications such as spacecraft rendezvous and docking. In these scenarios, a chaser vehicle must determine the…
This paper addresses the modeling and attitude control of jumping quadrupeds in low-gravity environments. First, a convex decomposition procedure is presented to generate high-accuracy and low-cost collision geometries for quadrupeds…
Autonomous vehicle control is generally divided in two main areas; trajectory planning and tracking. Currently, the trajectory planning is mostly done by particle or kinematic model-based optimization controllers. The output of these…
Attitude tracking on the unit sphere of dimension $3$ based on sliding mode is considered in this paper. The tangent bundle of Lagrangian dynamics that describes the rotational motion of a rigid body is first shown to be a Lie group, and…
Existing approaches to robust global asymptotic stabilization of a pair of antipodal points on unit $n$-sphere $\mathbb{S}^n$ typically involve the non-centrally synergistic hybrid controllers for attitude tracking on unit quaternion space.…
This paper presents the mathematical modeling, controller design, and flight-testing of an over-actuated Vertical Take-off and Landing (VTOL) tiltwing Unmanned Aerial Vehicle (UAV). Based on simplified aerodynamics and first-principles, a…
A new model-free setting and the corresponding "intelligent" P and PD controllers are employed for the longitudinal and lateral motions of a vehicle. This new approach has been developed and used in order to ensure simultaneously a best…
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…
This paper considers the coupled orbit and attitude dynamics of a dumbbell spacecraft around an asteroid. Geometric methods are used to derive the coupled equations of motion, defined on the configuration space of the special Euclidean…
This paper presents an experimental study of a path-tracking framework for autonomous vehicles in which the lateral control command is applied to a dynamic control point along the wheelbase. Instead of enforcing a fixed reference at either…
In this paper, we present an autonomous flight controller for a quadcopter with thrust vectoring capabilities. This UAV falls in the category of multirotors with tilt-motion enabled rotors. Since the vehicle considered is over-actuated in…
A tracking controller for unmanned aerial vehicles (UAVs) is developed to track moving targets undergoing unknown translational and rotational motions. The main challenges are to control both the relative positions and angles between the…
A deterministic attitude estimator for a rigid body under an attitude dependent potential is studied. This estimator requires only a single direction measurement to a known reference point at each measurement instant. The measurement cannot…
Real-time control is an essential aspect of safe robot operation in the real world with dynamic objects. We present a framework for the analysis of object-aware controllers, methods for altering a robot's motion to anticipate and avoid…
This paper is focused on tracking control for a rigid body payload, that is connected to an arbitrary number of quadrotor unmanned aerial vehicles via rigid links. A geometric adaptive controller is constructed such that the payload…
This paper discusses the design and the performance achievable with active aerodynamic attitude control in very low Earth orbit, i.e. below 450 km in altitude. A novel real-time algorithm is proposed for selecting the angles of deflection…