Related papers: Coordinate-free Isoline Tracking in Unknown 2-D Sc…
The isoline tracking of this work is concerned with the control design for a sensing vehicle to track a desired isoline of an unknown scalar field. To this end, we propose a simple PI-like controller for a Dubins vehicle in the GPS-denied…
We consider a single non-holonomic Dubins-like robot traveling with a constant longitudinal speed in an a priori unknown and unsteady planar environment. The robot should detect, locate, and track the boundary of a dynamic environmental…
This paper presents a robust tracking controller for tracking curvature-constrained paths by vehicles/robots with uncertain Dubins dynamics. Although Dubins paths have been widely used in vehicular and robotic applications, robust and…
This paper proposes a coordinate-free controller to drive a mobile robot to encircle a target at unknown position by only using range measurements. Different from the existing works, a backstepping based controller is proposed to encircle…
In this paper, we investigate the visual tracking problem for robotic systems without image-space velocity measurement, simultaneously taking into account the uncertainties of the camera model and the manipulator kinematics and dynamics. We…
This paper addresses the problem of tracking control for robotic vehicles equipped with pivoted unidirectional actuators. Starting from a baseline robust controller that assumes unconstrained inputs, we redesign the control law to be…
This paper proposes a coordinate-free controller for a nonholonomic vehicle to circumnavigate a fully-actuated moving target by using range-only measurements. If the range rate is available, our Proportional Derivative (PD)-like controller…
This paper describes the design process for developing a nonlinear model predictive controller for fault tolerant flight control. After examining and implementing a number of numerical techniques, this paper identifies pseudospectral…
This work aims to design an optimization-based controller for a discrete-time Dubins vehicle to approach a target with unknown position as fast as possible by only using bearing measurements. To this end, we propose a bi-objective…
This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…
We design a control law for two agents to successfully track a level curve in the plane without explicitly estimating the field gradient. The velocity of each agent is decomposed along two mutually perpendicular directions, and separate…
Nonlinear tracking control enabling a dynamical system to track a desired trajectory is fundamental to robotics, serving a wide range of civil and defense applications. In control engineering, designing tracking control requires complete…
This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…
This work presents a real-time autonomous track navigation framework for nonholonomic differential-drive mobile robots by jointly integrating multi-task visual perception and a provably stable tracking controller. The perception pipeline…
Quantum tracking control aims to identify applied fields to steer the expectation values of particular observables along desired paths in time. The associated temporal fields can be identified by inverting the underlying dynamical equations…
We consider the problem of bearing-based visual homing: Given a mobile robot which can measure bearing directions with respect to known landmarks, the goal is to guide the robot toward a desired "home" location. We propose a control law…
The capability to autonomously track a non-cooperative target is a key technological requirement for micro aerial vehicles. In this paper, we propose an output feedback control scheme based on deep reinforcement learning for controlling a…
Using a designed vector field to control a mobile robot to follow a given desired path is intuitive and practical, and to build a rigorous theory to guide its implementation is essential. In this paper, we study the properties of a general…
We study in this paper the problem of adaptive trajectory tracking control for a class of nonlinear systems with parametric uncertainties. We propose to use a modular approach, where we first design a robust nonlinear state feedback which…
Biological evidence shows that animals are capable of evading eminent collision without using depth information, relying solely on looming stimuli. In robotics, collision avoidance among uncooperative vehicles requires measurement of…