Related papers: Attitude and angular velocity tracking for a rigid…

In this paper, we study the quadrotor UAV attitude control on SO(3) in the presence of unknown disturbances and model uncertainties. L1 adaptive control for UAVs using Euler angles/quaternions is shown to exhibit robustness and precise…

For lateral vehicle dynamics, planning trajectories for lane-keeping and lane-change can be generalized as a path planning task to stabilize a vehicle onto a target lane, which is a fundamental element in nowadays autonomous driving…

Almost-global orientation trajectory tracking for a rigid body with external actuation has been well studied in the literature, and in the geometric setting as well. The tracking control law relies on the fact that a rigid body is a simple…

This paper presents a robust tracking controller for tracking curvature-constrained paths by vehicles/robots with uncertain Dubins dynamics. Although Dubins paths have been widely used in vehicular and robotic applications, robust and…

This paper reviews the attitude control problems for rigid-body systems, starting from the attitude representation for rigid body kinematics. Highly redundant rotation matrix defines the attitude orientation globally and uniquely by 9…

This is a complementary document to the paper presented in [1], to provide more detailed proofs for some results. The main paper addresses the problem of trajectory tracking control of autonomous rotorcraft in operation scenarios where only…

Relative attitude formation control systems are developed for multiple spacecraft, based on the line-of-sight measurements between spacecraft in formation. The proposed control systems are unique in the sense that they do not require…

New quadrotor UAV control algorithms are developed, based on nonlinear surfaces composed of tracking errors that evolve directly on the nonlinear configuration manifold, thus inherently including in the control design the nonlinear…

The proposed control method uses an adaptive feedforward-based controller to establish a passive input-output mapping for the CDPR that is used alongside a linear time-invariant strictly positive real feedback controller to guarantee robust…

This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…

This paper addresses the problem of steering a robotic vehicle along a geometric path specified with respect to a reference frame moving in three dimensions, termed the Moving Path Following (MPF) motion control problem. The MPF motion…

A continuous solution is proposed to the problem of uniform global exponential estimation of the angular velocity for rigid bodies by means of direct attitude measurements. The proposed observer is designed on…

Visual Object tracking research has undergone significant improvement in the past few years. The emergence of tracking by detection approach in tracking paradigm has been quite successful in many ways. Recently, deep convolutional neural…

This paper presents a continuous-time output feedback adaptive control technique for stabilization and tracking control problems. The adaptive controller is motivated by the classical discrete-time retrospective cost adaptive control…

This paper develops an input-output feedback linearization-based adaptive controller to stabilize and regulate a dual-rotor rotational system (DRRS), whose inertial properties as well as the geometric configuration of rotors are unknown.…

This paper addresses forward motion control for trajectory tracking and mobile formation coordination for a group of non-holonomic vehicles on SE(2). Firstly, by constructing an intermediate attitude variable which involves vehicles'…

This work presents a geometric backstepping controller for a variable-tilt omnidirectional multirotor that explicitly accounts for both servo and rotor dynamics. Considering actuator dynamics is essential for more effective and reliable…

In this paper we exploit some interesting properties of a class of bipedal robots which have an inertial disc. One of this properties is the ability to control every position and speed except for the disc position. The proposed control is…

This article presents an in-depth review of the topic of path following for autonomous robotic vehicles, with a specific focus on vehicle motion in two dimensional space (2D). From a control system standpoint, path following can be…

The paper deals with motion planning for a spin-rolling sphere when the sphere follows a straight path on a plane. Since the motion of the sphere is constrained by the straight line, the control of the sphere's spin motion is essential to…