Related papers: Coordinate-free Isoline Tracking in Unknown 2-D Sc…

The autonomous operation of flexible-wing aircraft is technically challenging and has never been presented within literature. The lack of an exact modeling framework is due to the complex nonlinear aerodynamic relationships governed by the…

The paper solves the problem of tracking control of a quadrotor with unmeasurable pitch and roll angles based on the geometric approach with the use of the enhanced extended observer and the internal model. The proposed approach makes it…

In this paper we propose an end-to-end algorithm for indirect data-driven control for bilinear systems with stability guarantees. We consider the case where the collected i.i.d. data is affected by probabilistic noise with possibly…

This paper applies geometric PID control for asymptotic tracking of a desired trajectory by a hoop robot in the presence of disturbances and uncertainties. The hoop robot, consisting of a circular body rolling without slip along a…

This work addresses the problem of designing a visual servo controller for a multirotor vehicle, with the end goal of tracking a moving spherical target with unknown radius. To address this problem, we first transform two bearing…

This paper investigates the robust nonlinear close formation control problem. It aims to achieve precise position control at dynamic flight operation for a follower aircraft under the aerodynamic impact due to the trailing vortices…

The paper presents a new, robust control algorithm for position trajectory tracking in a 3D space, dedicated to underactuated airships. In order to take into account real characteristics of such vehicles, and to reflect practically…

Linear Hall sensors are a cost-effective alternative to optical encoders for measuring the rotor positions of actuators, with the main challenge being that they exhibit position-dependent inaccuracies resulting from manufacturing…

This paper proposes a framework for adaptively learning a feedback linearization-based tracking controller for an unknown system using discrete-time model-free policy-gradient parameter update rules. The primary advantage of the scheme over…

In this paper a position-tracking controller for quadrotors based on perception feedback is developed, which directly uses measurements from onboard sensors such as low cost IMUs and GPS to generate the control commands without state…

We propose coordinating guiding vector fields to achieve two tasks simultaneously with a team of robots: first, the guidance and navigation of multiple robots to possibly different paths or surfaces typically embedded in 2D or 3D; second,…

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…

Trajectory tracking for the kinematic unicycle has been heavily studied for several decades. The unicycle admits a natural $\SE(2)$ symmetry, a key structure exploited in many of the most successful nonlinear controllers in the literature.…

This paper studies the performance of a model-free LQR based PID (i-LQR-PID) controller designed for tracking control problem of a 2-DoF laboratory helicopter. The control problem addressed in 2-DoF helicopter system aims to track the…

In this paper, modification of the classical PID controller and development of open-loop control mechanisms to improve stability and robustness of a differential wheeled robot are discussed. To deploy the algorithm, a test platform has been…

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…

Feedforward controllers typically rely on accurately identified inverse models of the system dynamics to achieve high reference tracking performance. However, the impact of the (inverse) model identification error on the resulting tracking…

We present a novel approach to control design for nonlinear systems which leverages model-free policy optimization techniques to learn a linearizing controller for a physical plant with unknown dynamics. Feedback linearization is a…

Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any…

Autonomous navigation is the foundation of agricultural robots. This paper focuses on developing an advanced autonomous navigation system for a rover operating within row-based crops. A position-agnostic system is proposed to address the…