Related papers: Robust Tracking and Model Following Controller Bas…
The ability to deal with systems parametric uncertainties is an essential issue for heavy self-driving vehicles in unconfined environments. In this sense, robust controllers prove to be efficient for autonomous navigation. However,…
This paper proposes a Lyapunov approach to the design of a multivariable generalized Super-Twisting algorithm (MGSTA), which is able to control a system with perturbations and uncertain control matrix, both depending on time and the system…
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 presents a simple method to boost the robustness of quadrotors in trajectory tracking. The presented method features a high-gain disturbance observer (HGDO) that provides disturbance estimates in real-time. The estimates are then…
This paper proposes a novel sliding mode control (SMC) method for a class of affine dynamic systems. In this type of systems, the high-frequency gain matrix (HFGM), which is the matrix multiplying the control vector in the dynamic equation…
It remains a huge challenge to design effective and efficient trackers under complex scenarios, including occlusions, illumination changes and pose variations. To cope with this problem, a promising solution is to integrate the temporal…
Satellite rendezvous and docking (RvD) maneuvers are essential for satellite servicing and in-orbit assembly. Traditional approaches often treat translational and rotational motions independently, simplifying control design but potentially…
This paper presents Learning-based Autonomous Guidance with RObustness and Stability guarantees (LAG-ROS), which provides machine learning-based nonlinear motion planners with formal robustness and stability guarantees, by designing a…
In this paper, we investigate the design of statistically robust detectors for multi-input multi-output (MIMO) systems subject to imperfect channel state information (CSI). A robust maximum likelihood (ML) detection problem is formulated by…
This paper presents a robust position controller for electric power assisted steering and steer-by-wire force-feedback systems. A position controller is required in steering systems for haptic feedback control, advanced driver assistance…
This article emphasizes on inconsistencies in the dynamical estimates obtained by first-order transverse discontinuity mapping (TDM) and direct numerical observations for hybrid dynamical systems. Pitfalls of locally linearizing hybrid…
This paper studies worst-case robust optimal tracking using noisy input-output data. We utilize behavioral system theory to represent system trajectories, while avoiding explicit system identification. We assume that the recent output data…
This paper proposes an algorithm that combines Fast Moving Horizon Parameter Estimation and Model Predictive Control subject to an observability constraint designed to ensure a lower bound on the performance of the parameter estimator.…
This paper addresses limitations in 3D tracking-by-detection methods, particularly in identifying legitimate trajectories and reducing state estimation drift in Kalman filters. Existing methods often use threshold-based filtering for…
This paper proposes new practical design tools for the robust motion control systems based on disturbance observer (DOB). Although DOB has long been used in several motion control applications, it has insufficient analysis and design tools.…
This paper presents a computationally efficient robust model predictive control law for discrete linear time invariant systems subject to additive disturbances that may depend on the state and/or input norms. Despite the dependency being…
Using the context of trajectory estimation and tracking for multi-rotor unmanned aerial vehicles (UAVs), we explore the challenges in applying high-gain observers to highly dynamic systems. The multi-rotor will operate in the presence of…
This paper presents a novel fuzzy logic based Adaptive Super-twisting Sliding Mode Controller for the control of dynamic uncertain systems. The proposed controller combines the advantages of Second order Sliding Mode Control, Fuzzy Logic…
This paper deals with the robust force and position control problems of Series Elastic Actuators. It is shown that a Series Elastic Actuator's force control problem can be described by a second-order dynamic model which suffers from only…
This paper presents a novel safe control framework that integrates Sliding Mode Control (SMC), High-Order Control Barrier Functions (HOCBFs) with state-dependent adaptiveness and a lightweight projection for collision-free navigation of an…