Related papers: Mobile Formation Coordination and Tracking Control…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
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 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 complex tasks such as surveillance, construction, search and rescue can benefit of the maneuverability of multirotor Micro Aerial Vehicles (MAVs) to obtain robust, cooperative system behavior and formation control is a prominent…
In this paper, we investigate the problem of controlling multiple unmanned aerial vehicles (UAVs) to enclose a moving target in a distributed fashion based on a relative distance and self-displacement measurements. A relative localization…
This paper proposes a control solution to achieve collision-free platooning control of input-constrained mobile robots. The platooning policy is based on a leader-follower approach where the leader tracks a reference trajectory while…
The attitude tracking problem for a full-actuated rigid body in 3D is studied using a impulsive system model based on Lie algebra so(3). A nonlinear homogeneous controller is designed to globally track a smooth attitude trajectory in a…
As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…
In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…
This letter presents a novel control solution to the robust global position and heading tracking problem for underactuated vehicles, equipped with single-axis thrust and full torque actuation, operating under strict, user-defined actuation…
This paper concentrates on the collaborative target tracking control of a pair of tracking vehicles with formation constraints. The proposed controller requires only distance measurements between tracking vehicles and the target. Its…
This paper proposes a passivity-based port-Hamiltonian (pH) framework for multi-agent displacement-based and rigid formation control and velocity tracking. The control law consists of two parts, where the internal feedback is to track the…
This paper studies a leader-follower formation tracking problem where the leaders are moving at the same unknown bounded velocity. A distance-based control law is proposed for follower agents to maintain the desired distances in the…
Nonlinear control-affine systems with time-varying vector fields are considered in the paper. We propose a unified control design scheme with oscillating inputs for solving the trajectory tracking and stabilization problems. This…
Distributed formation maneuver control refers to the problem of maneuvering a group of agents to change their formation shape by adjusting the motions of partial agents, where the controller of each agent only requires local information…
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 paper addresses the motion control problem for underactuated mechanical systems with full attitude control and one translational force input to manage the six degrees of freedom involved in the three-dimensional Euclidean space. These…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
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…
Cooperative of multiple nonholonomic vehicles can be converted into tracking problems of a single-vehicle. The reference trajectory design within distributed features for each vehicle in the group is addressed in this note. The motivation…