Related papers: A flow disturbance estimation and rejection strate…
Deep Reinforcement Learning (DRL) for quadrotor flight control typically relies on Domain Randomization (DR) for sim-to-real transfer, resulting in overly conservative policies that struggle with dynamic disturbances. To overcome this, we…
Multirotors play a significant role in diverse field robotics applications but remain highly susceptible to actuator failures, leading to rapid instability and compromised mission reliability. While various fault-tolerant control (FTC)…
This paper focuses on a drag-reducing control strategy on a 2D-simulated laminar flow past a cylinder. Deep reinforcement learning algorithms have been implemented to discover efficient control schemes, using two synthetic jets located on…
Fast and precise motion control is important for industrial robots in manufacturing applications. However, some collaborative robots sacrifice precision for safety, particular for high motion speed. The performance degradation is caused by…
Simultaneously accurate and reliable tracking control for quadrotors in complex dynamic environments is challenging. As aerodynamics derived from drag forces and moment variations are chaotic and difficult to precisely identify, most…
Challenges in traversing dynamic clutters lie mainly in the efficient perception of the environmental dynamics and the generation of evasive behaviors considering obstacle movement. Previous solutions have made progress in explicitly…
Field trials of a 4 meter long, 180 kilogram, unmanned surface vehicle (USV) have been conducted to evaluate the performance of station-keeping heading and position controllers in an outdoor marine environment disturbed by wind and current.…
We present a data-driven feedforward control to attenuate large transient lift experienced by an airfoil disturbed by an extreme level of discrete vortex gust. The current analysis uses a nonlinear machine-learning technique to compress the…
In this paper, we introduce a translational force control method with disturbance observer (DOB)-based force disturbance cancellation for precise three-dimensional acceleration control of a multi-rotor UAV. The acceleration control of the…
We present a novel, high-performance attitude control law for multicopters, with a view to recovery from large disturbances. The controller is compared to three well-established alternatives from the literature. All controllers considered…
The SNS SRF system is operated with a pulsed beam. For the SRF system to track the repetitive reference trajectory, a feedback and a feedforward controllers has been proposed. The feedback controller is to guarantee the closed loop system…
In this paper, we prove that the dynamical model of a quadrotor subject to linear rotor drag effects is differentially flat in its position and heading. We use this property to compute feed-forward control terms directly from a reference…
The paper tailors the so-called wave-based control popular in the field of flexible mechanical structures to the field of distributed control of vehicular platoons. The proposed solution augments the symmetric bidirectional control…
We present a dead reckoning strategy for increased resilience to position estimation failures on multirotors, using only data from a low-cost IMU and novel, bio-inspired airflow sensors. The goal is challenging, since low-cost IMUs are…
To cope with uncertain traffic patterns and traffic models, traffic-responsive signal control strategies in the literature are designed to be robust to these uncertainties. These robust strategies still require sensing infrastructure to…
Unmodeled aerodynamic disturbances pose a key challenge for multirotor flight when multiple vehicles are in close proximity to each other. However, certain missions \textit{require} two multirotors to approach each other within 1-2…
Reference tracking systems involve a plant that is stabilized by a local feedback controller and a command center that indicates the reference set-point the plant should follow. Typically, these systems are subject to limitations such as…
Current engineering design trends, such as light-weight machines and humanmachine-interaction, often lead to underactuated systems. Output trajectory tracking of such systems is a challenging control problem. Here, we use a twodesign-degree…
Feedforward control can greatly improve the response time and control accuracy of any mechatronic system. However, in order to compensate for the effects of modeling errors or disturbances, it is imperative that this type of control works…
Growing demands in the semiconductor industry result in the need for enhanced performance of lithographic equipment. However, position tracking accuracy of high precision mechatronics is often limited by the presence of disturbance sources,…