Related papers: A full controller for a fixed-wing UAV
We will show that there is a universal connection between the achievable closed-loop dynamics and the corresponding feedback controller that produces it. This connection shows promise to lead to new methods for robust nonlinear control in…
The safety of autonomous driving systems, particularly self-driving vehicles, remains of paramount concern. These systems exhibit affine nonlinear dynamics and face the challenge of executing predefined control tasks while adhering to state…
We consider the adaptive control problem for discrete-time, nonlinear stochastic systems with linearly parameterised uncertainty. Assuming access to a parameterised family of controllers that can stabilise the system in a bounded set within…
H Infinity robust control synthesis for gust load alleviation of very flexible aircraft is presented. The controller is synthesised on a compact reduced-order model comprising 8 degrees of freedom for the UAV configuration and 9 for the…
In this paper, we focus on the problem about direct way to design a stable controller for nonlinear system. A framework of learning controller with Lyapunov-based constraint is proposed, which is intended to transform designing and analyis…
The paper deals with the control and regulation by integral controllers forthe nonlinear systems governed by scalar quasi-linear hyperbolic partial differentialequations. Both the control input and the measured output are located on the…
The dead-zone is one of the most common hard nonlinearities in industrial actuators and its presence may drastically compromise control systems stability and performance. In this work, an adaptive variable structure controller is proposed…
Nonlinear PID control systems for a quadrotor UAV are proposed to follow an attitude tracking command and a position tracking command. The control systems are developed directly on the special Euclidean group to avoid singularities of…
This paper presents a novel approach for the safe control design of systems with parametric uncertainties in both drift terms and control-input matrices. The method combines control barrier functions and adaptive laws to generate a safe…
We study nonlinear systems with observation errors. The main problem addressed in this paper is the design of feedbacks for globally asymptotically controllable (GAC) control affine systems that render the closed loop systems input to state…
This work presents the first closed-loop control framework for cooperative payload transportation with non-stopping flying carriers. The proposed method includes a feedback wrench-controller that actively regulates the load's pose by…
This paper focuses on the control of a system composed of an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV) which cooperate to manipulate an object. The two units are subject to actuator saturations and cooperate to move…
This article aims to derive a practical tracking control algorithm for flexible air-breathing hypersonic vehicles (FAHVs) with lumped disturbances, unmeasurable states and actuator failures. Based on the framework of the backstepping…
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 work addresses the problem of path tracking control of a suspended load using a tilt-rotor UAV. The main challenge in controlling this kind of system arises from the dynamic behavior imposed by the load, which is usually coupled to the…
Safe control for control-affine systems has been extensively studied. However, due to the complexity of system dynamics, it is challenging and time-consuming to apply these methods directly to non-control-affine systems, which cover a large…
This paper focuses on the problem of constructing time-varying feedback laws that asymptotically stabilize a given part of the state variables for nonlinear control-affine systems. It is assumed that the class of systems under consideration…
In this paper, we tackle the state transformation problem in non-strict full state-constrained systems by introducing an adaptive fixed-time control method, utilizing a one-to-one asymmetric nonlinear mapping auxiliary system. Additionally,…
In this paper we introduce the concept of universal stabilizability: the condition that every solution of a nonlinear system can be globally stabilized. We give sufficient conditions in terms of the existence of a control contraction…
This paper considers how to ensure that a system of fixed wing Unmanned Aerial Vehicles (UAVs) can avoid collisions. To do so we develop a novel method for creating a barrier function, which is similar to a Lyapunov function and can be used…