Related papers: Coordinate-free Isoline Tracking in Unknown 2-D Sc…
This paper addresses the problem of tracking control for an unknown nonlinear system with time-varying bounded disturbance subjected to prescribed Performance and Input Constraints (PIC). Since simultaneous prescription of PIC involves a…
In this paper, we present a novel decentralized controller to drive multiple unmanned aerial vehicles (UAVs) into a symmetric formation of regular polygon shape surrounding a mobile target. The proposed controller works for time-varying…
This paper presents a new framework to use images as the inputs for the controller to have autonomous flight, considering the noisy indoor environment and uncertainties. A new Proportional-Integral-Derivative-Accelerated (PIDA) control with…
The PID controller is an elegant and versatile controller for set point tracking in double integrator systems of which mechanical systems evolving on Euclidean space constitute a large class. But since mechanical systems are typically…
We are introducing a model-free control and a control with a restricted model for finite-dimensional complex systems. This control design may be viewed as a contribution to "intelligent" PID controllers, the tuning of which becomes quite…
Controlling nonlinear systems, especially when data are being used to offset uncertainties in the model, is hard. A natural approach when dealing with the challenges of nonlinear control is to reduce the system to a linear one via change of…
Set-point tracking for systems with unknown model parameters is a fundamental problem in control, and two-degree-of-freedom (2DOF) Proportional-Integral (PI) controllers -- consisting of a feedforward controller and PI controller -- are…
Sensor setups of robotic platforms commonly include both camera and LiDAR as they provide complementary information. However, fusing these two modalities typically requires a highly accurate calibration between them. In this paper, we…
This paper is concerned with the Proportional Integral (PI) regulation control of the left Neu-mann trace of a one-dimensional semilinear wave equation. The control input is selected as the right Neumann trace. The control design goes as…
This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transformation, we convert diverse vehicle…
In this paper we address the problem of tracking control of nonlinear systems via contraction analysis. The necessary conditions of the systems which can achieve universal asymptotic tracking are studied under several different cases. We…
This paper proposes a multi-sensor based approach to detect, track, and localize a quadcopter unmanned aerial vehicle (UAV). Specifically, a pipeline is developed to process monocular RGB and thermal video (captured from a fixed platform)…
This paper investigates a unified pilot signal design in an orthogonal frequency division modulation (OFDM)-based integrated sensing and communications (ISAC) system. The novel designed two-dimensional (2D) pilot signal is generated on the…
A safety-critical measure of legged locomotion performance is a robot's ability to track its desired time-varying position trajectory in an environment, which is herein termed as "global-position tracking". This paper introduces a nonlinear…
Motivated by the goal of having a building block in the direct design of data-driven controllers for nonlinear systems, we show how, for an unknown discrete-time bilinear system, the data collected in an offline open-loop experiment enable…
This paper addresses the problem of distributed coordination control of spacecraft formation. It is assumed that the agents measure relative positions of each other with a non-zero, unknown constant sensor bias. The translational dynamics…
In this article, we present data-driven feedback linearization for nonlinear systems with periodic orbits in the zero-dynamics. This scenario is challenging for data-driven control design because the higher order terms of the internal…
This paper applies the recently developed framework for integral control on nonlinear spaces to two non-standard cases. First, we show that the property of perfect target stabilization in presence of actuation bias holds also if this bias…
Stabilization of a nonlinear single stage inverted pendulum is a complicated control problem, as nonlinearity is present inherently and external factors affect the equilibrium position. In this paper, a PD sliding mode controller is…
This work proposes a novel 2-D formation control scheme for acyclic triangulated directed graphs (a class of minimally acyclic persistent graphs) based on bipolar coordinates with (almost) global convergence to the desired shape. Prescribed…