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This paper deals with the tracking control problem for a class of unknown pure feedback system with pure state constraints on the state variables and unknown time-varying bounded disturbances. An adaptive controller is presented for such…
This paper presents the mathematical modeling, controller design, and flight-testing of an over-actuated Vertical Take-off and Landing (VTOL) tiltwing Unmanned Aerial Vehicle (UAV). Based on simplified aerodynamics and first-principles, a…
This paper presents new results that allow one to address the discrete-time general nonlinear robust control problem. The uncertain system is described by a general nonlinear function set characterized by the nominal model and the…
Multi-agent systems are increasingly applied in space missions, including distributed space systems, resilient constellations, and autonomous rendezvous and docking operations. A critical emerging application is collaborative spacecraft…
Robot navigation requires an autonomy pipeline that is robust to environmental changes and effective in varying conditions. Teach and Repeat (T&R) navigation has shown high performance in autonomous repeated tasks under challenging…
We propose a learning-based robust predictive control algorithm that compensates for significant uncertainty in the dynamics for a class of discrete-time systems that are nominally linear with an additive nonlinear component. Such systems…
This paper proposes a unified robust motion controller for the position and force control problems of compliant robot manipulators driven by Series Elastic Actuators (SEAs). It is shown that the dynamic model of the compliant robot includes…
Legged locomotion is a complex control problem that requires both accuracy and robustness to cope with real-world challenges. Legged systems have traditionally been controlled using trajectory optimization with inverse dynamics. Such…
This paper presents a novel robust trajectory optimization method for constrained nonlinear dynamical systems subject to unknown bounded disturbances. In particular, we seek optimal control policies that remain robustly feasible with…
This paper proposes an adaptive human pilot model that is able to mimic the crossover model in the presence of uncertainties. The proposed structure is based on the model reference adaptive control, and the adaptive laws are obtained using…
This paper proposes an active model-based fault and failure tolerant control scheme for a class of marine vehicles with thruster redundancy. Unlike widely used state and parameter estimation methods, where the estimation errors are utilized…
Aerospace production volumes have increased over time and robotic solutions have been progressively introduced in the aeronautic assembly lines to achieve high-quality standards, high production rates, flexibility and cost reduction.…
Controller design for bipedal walking on dynamic rigid surfaces (DRSes), which are rigid surfaces moving in the inertial frame (e.g., ships and airplanes), remains largely uninvestigated. This paper introduces a hierarchical control…
This paper presents a novel robust predictive controller for constrained nonlinear systems that is able to track piece-wise constant setpoint signals. The tracking model predictive controller presented in this paper extends the nonlinear…
Model-based controllers can offer strong guarantees on stability and convergence by relying on physically accurate dynamic models. However, these are rarely available for high-dimensional mechanical systems such as deformable objects or…
Ensuring the safe and efficient operation of Advanced Air Mobility (AAM) in low-altitude airspace requires a reliable, robust, and resilient surveillance system capable of continuously detecting, identifying, and tracking aircraft under…
In this paper, we consider the problem of computing robust controlled invariants for discrete-time monotone dynamical systems. We consider different classes of monotone systems depending on whether the sets of states, control inputs and…
This paper solves the problem of regulating the rotor speed tracking error for wind turbines in the full-load region by an effective robust-adaptive control strategy. The developed controller compensates for the uncertainty in the control…
A Lyapunov-based method is presented for stabilizing and controlling of closed quantum systems. The proposed method is constructed upon a novel quantum Lyapunov function of the system state trajectory tracking error. A positive-definite…
In-Orbit Servicing and Active Debris Removal require advanced robotic capabilities for capturing and detumbling uncooperative targets. This work presents a hierarchical control framework for autonomous robotic capture of tumbling objects in…