Related papers: On Controller Design for Systems on Manifolds in E…
Despite extensive research on sliding mode control (SMC) design for quadrotors, the existing approaches suffer from certain limitations. Euler angle-based SMC formulations suffer from poor performance in high-pitch or -roll maneuvers.…
Control theory deals with the study of controlling dynamical systems. Robots today are growing increasingly complex and moving out of factory floors to real world environment. These robots have to interact with real world environment…
This paper presents a generalization of conventional sliding mode control designs for systems in Euclidean spaces to fully actuated simple mechanical systems whose configuration space is a Lie group for the trajectory-tracking problem. A…
In this paper, we propose a learning framework for synthesizing a robust controller for dynamical systems evolving on a Lie group. A robust control contraction metric (RCCM) and a neural feedback controller are jointly trained to enforce…
In this paper, we present a novel decentralized controller to drive multiple unmanned aerial vehicles (UAVs) into a symmetric formation of regular polygon shape surrounding a mobile target. The proposed controller works for time-varying…
Control barrier functions (CBFs) have a well-established theory in Euclidean spaces, yet still lack general formulations and constructive synthesis tools for systems evolving on manifolds common in robotics and aerospace applications. In…
This paper addresses the design of finite-dimensional feedback control laws for linear discrete-time fractional-order systems with additive state disturbance. A set of sufficient conditions are provided to guarantee convergence of the state…
In this paper we will present a mathematical description and analysis of a fractional-order regulated system in the state space and the state-space controller design based on placing the closed-loop poles on the complex plane. Presented are…
In this paper, we present a cascade control structure to address the trajectory tracking problem for quadcopters, ensuring uniform global asymptotic stability of the state tracking error dynamics. An MPC strategy based on a 12-dimensional…
Recent results in control systems and numerical integration literature utilize invariant set theory to lift dynamical systems evolving on nonlinear manifolds to those evolving on vector spaces. We leverage this technique to propose an…
This paper addresses the problem of computing controllers that are correct by design for safety-critical systems and can provably satisfy (complex) functional requirements. We develop new methods for models of systems subject to both…
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…
We consider optimization problems on manifolds with equality and inequality constraints. A large body of work treats constrained optimization in Euclidean spaces. In this work, we consider extensions of existing algorithms from the…
In this paper we develop two axiomatic tests for the controllability of subsystem codes embedded in decoherence-free subspaces of open quantum systems. The tests expand on existing control theory by considering quantum subsystems where a…
Given a finite-dimensional time continuous control system and $\varepsilon>0$, we address the question of the existence of controls that maintain the corresponding state trajectories in the $\varepsilon$-neighborhood of any prescribed path…
A novel method for control of dynamical systems, proposed in the paper, ensures an output signal belonging to the given set at any time. The method is based on a special change of coordinates such that the initial problem with given…
In this paper, we propose a framework for designing sliding mode controllers for a class of mechanical systems with symmetry, both unconstrained and constrained, that evolve on principal fiber bundles. Control laws are developed based on…
The paper is an attempt to generalize a methodology, which is similar to the bounded-input bounded-output method currently widely used for the system stability studies. The presented earlier methodology allows decomposition of input space…
A parameter space procedure for designing chosen parameters of a repetitive controller to satisfy a robust performance criterion is presented. Using this method, low order robust repetitive controllers can be designed and implemented for…
Model predictive control (MPC) anticipates future events to take appropriate control actions. Nonlinear MPC (NMPC) describes systems with nonlinear models and/or constraints. Continuation MPC, suggested by T.~Ohtsuka in 2004, uses…