Related papers: Global exponential attitude tracking for spacecraf…
This work presents a solution to the adaptive tracking control of Euler Lagrange systems with guaranteed tracking and parameter estimation error convergence. Specifically a concurrent learning based update rule fused by the filtered version…
We introduce a new hybrid control strategy, which is conceptually different from the commonly used synergistic hybrid approaches, to efficiently deal with the problem of the undesired equilibria that precludes smooth vectors fields on…
This paper investigates the trajectory tracking problem of underactuated marine vessels within a polar coordinate framework. By introducing two polar coordinate transformations (PCTs), the original two-input-three-output second-order…
This paper proposes a novel quaternion-based approach for tracking the translation (position and linear velocity) and rotation (attitude and angular velocity) trajectories of underactuated Unmanned Aerial Vehicles (UAVs). Quadrotor UAVs are…
Fault-tolerant control is crucial for safety-critical systems, such as quadrotors. State-of-art flight controllers can stabilize and control a quadrotor even when subjected to the complete loss of a rotor. However, these methods rely on…
This paper focuses on the problem of spacecraft attitude control in the presence of time-varying parameter uncertainties and multiple constraints, accounting for angular velocity limitation, performance requirements, and input saturation.…
When intelligent spacecraft or space robots perform tasks in a complex environment, the controllable variables are usually not directly available and have to be inferred from high-dimensional observable variables, such as outputs of neural…
In this paper, an exponentially stable trajectory tracking controller is proposed for multi-UAV payload transport. The multi-UAV payload system has a 2-DOF magnetic spherical joint between the UAVs and the vertical rigid links of the…
Attitude determination is a popular application of Global Navigation Satellite Systems (GNSS). Many methods have been developed to solve the attitude determination problem with different performance offerings. We develop a constrained…
This paper presents a trajectory tracking control strategy that modulates the active power injected by geographically distributed inverter-based resources to support transient stability. Each resource is independently controlled, and its…
This paper presents a novel Luenberger-style observer for robot manipulators with position measurements. Under the assumption that the state evolutions that are to be observed have bounded velocities, it is shown that the origin of the…
Attitude tracking on the unit sphere of dimension $3$ based on sliding mode is considered in this paper. The tangent bundle of Lagrangian dynamics that describes the rotational motion of a rigid body is first shown to be a Lie group, and…
In this paper, the parallel multi-extended state observers (ESOs) based active disturbance rejection control approach is proposed to achieve desired tracking performance by automatically selecting the estimation values leading to the least…
The quadrotor task of negotiating aggressive attitude maneuvers while adhering to motor constraints is addressed here. The majority of high level quadrotor Nonlinear Control System (NCS) solutions ignore motor control authority limitations,…
In this paper, we present a cloud based Automated Guided vehicle (AGV) control system. A controller in an Edge cloud sends the control inputs to an AGV to follow a predefined reference track over a wireless channel. The AGV feedback the…
Inertial-based navigation refers to the navigation methods or systems that have inertial information or sensors as the core part and integrate a spectrum of other kinds of sensors for enhanced performance. Through a series of papers, the…
Fast appearance variations and the distractions of similar objects are two of the most challenging problems in visual object tracking. Unlike many existing trackers that focus on modeling only the target, in this work, we consider the…
We present an approach to enhance wheeled planetary rover dead-reckoning localization performance by leveraging the use of zero-type constraint equations in the navigation filter. Without external aiding, inertial navigation solutions…
Stabilization of a coupled system consisting of a parabolic partial differential equation and an elliptic partial differential equation is considered. Even in the situation when the parabolic equation is exponentially stable on its own, the…
An adaptive-gain super-twisting sliding mode observer is proposed for fault reconstruction in electro-hydraulic servo systems (EHSS) receiving bounded perturbations with unknown bounds. The objective is to address challenging problems in…