Related papers: Hierarchical non-linear control for multi-rotor as…
This paper investigates adaptive control of nonlinear robot manipulators with parametric uncertainty. Motivated by generating closed-loop robot dynamics with enhanced transmission capability of a reference torque and with connection to…
In the present work, we consider nonlinear control systems for which there exist structural obstacles to the design of classical continuous backstepping feedback laws. We conceive feedback laws such that the origin of the closed-loop system…
In this article we design a backstepping control law based on geometric principles to swing up a spherical pendulum mounted on a moving quadrotor. The available degrees of freedom in the control vector also permit us to position the plane…
Achieving precise lateral motion modeling and decoupled control in hover remains a significant challenge for tail-sitter Unmanned Aerial Vehicles (UAVs), primarily due to complex aerodynamic couplings and the absence of welldefined lateral…
This paper focuses on the stability analysis of a formation shape displayed by a team of mobile robots that uses heterogeneous sensing mechanism. Depending on the convenience and reliability of the local information, each robot utilizes the…
UAV control system is a huge and complex system, and to design and test a UAV control system is time-cost and money-cost. This paper considered the simulation of identification of a nonlinear system dynamics using artificial neural networks…
We design receding horizon control strategies for stochastic discrete-time linear systems with additive (possibly) unbounded disturbances, while obeying hard bounds on the control inputs. We pose the problem of selecting an appropriate…
This paper presents nonlinear tracking control systems for a quadrotor unmanned aerial vehicle under the influence of uncertainties. Assuming that there exist unstructured disturbances in the translational dynamics and the attitude…
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…
While Unmanned Aerial Vehicles (UAVs) are increasingly deployed in several missions, their inability of reliable and consistent autonomous landing poses a major setback for deploying such systems truly autonomously. In this paper we present…
This paper presents a robust cascaded control architecture for over-actuated multirotors. It extends the Incremental Nonlinear Dynamic Inversion (INDI) control combined with structured H_inf control, initially proposed for under-actuated…
The problem of partial stabilization for nonlinear control systems described by the Ito stochastic differential equations is considered. For these systems, we propose a constructive control design method which leads to establishing the…
Modern control systems must operate in increasingly complex environments subject to safety constraints and input limits, and are often implemented in a hierarchical fashion with different controllers running at multiple time scales. Yet…
For uncertain multiple inputs multi-outputs (MIMO) nonlinear systems, it is nontrivial to achieve asymptotic tracking, and most existing methods normally demand certain controllability conditions that are rather restrictive or even…
This paper designs a servo control system based on sliding mode control for the shape control of elastic objects. In order to solve the effect of non-smooth and asymmetric control saturation, a Gaussian-based continuous differentiable…
It is quite often claimed, and correctly so, that linear methods cannot achieve global stability results for attitude control, and conversely that nonlinear control is essential in order to achieve (almost) globally stable tracking of…
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 addresses the design and application controller for a small-size unmanned aerial vehicle (UAV). In this work, the main objective is to study the modeling and attitude controller design for a small size helicopter. Based on a…
Magnetic levitation positioning technology has attracted considerable research efforts and dedicated attention due to its extremely attractive features. The technology offers high-precision, contactless, dust/lubricant-free, multi-axis, and…
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…