Related papers: Stabilizing a spherical pendulum on a quadrotor

Orbit-attitude hovering of a spacecraft at the natural relative equilibria in the body-fixed frame of a uniformly rotating asteroid is discussed in the framework of the full spacecraft dynamics, in which the spacecraft is modeled as a rigid…

Drifting is an advanced driving technique where the wheeled robot's tire-ground interaction breaks the common non-holonomic pure rolling constraint. This allows high-maneuverability tasks like quick cornering, and steady-state drifting…

Aerial robotics for transporting suspended payloads as the form of freely-floating manipulator are growing great interest in recent years. However, the force/torque caused by payload and residual dynamics will introduce unmodeled…

This paper considers the backstepping state feedback control of coupled linear parabolic PDEs with spatially varying coefficients and bilateral actuation. By making use of the folding technique, a system representation with unilateral…

Tilt-rotor aerial robots enable omnidirectional maneuvering through thrust vectoring, but introduce significant control challenges due to the strong coupling between joint and rotor dynamics. While model-based controllers can achieve high…

The model we consider consists in a double pendulum set, where the pivot points are free to shift along a horizontal line. Moreover, the two pendula are coupled by means of a spring whose extremities connect two points of each pendulum, at…

This communication presents a longitudinal model-free control approach for computing the wheel torque command to be applied on a vehicle. This setting enables us to overcome the problem of unknown vehicle parameters for generating a…

Reconfigurable robots are at the forefront of robotics innovation due to their unmatched versatility and adaptability in addressing various tasks through collaborative operations. This paper explores the design and implementation of a novel…

Physical systems obey strict symmetry principles. We expect that machine learning methods that intrinsically respect these symmetries should have higher prediction accuracy and better generalization in prediction of physical dynamics. In…

In this paper we present a maneuver regulation scheme for Vertical Take-Off and Landing (VTOL) micro aerial vehicles (MAV). Differently from standard trajectory tracking, maneuver regulation has an intrinsic robustness due to the fact that…

The single, double, and triple pendulum has served as an illustrative experimental benchmark system for scientists to study dynamical behavior for more than four centuries. The pendulum system exhibits a wide range of interesting behaviors,…

We construct a trajectory tracking controller for a quadrotor system by finding a coordinate change which transforms the quadrotor's vector field into that of a thrust propelled system. In a thrust propelled system, the goal is to stabilize…

This paper extends backstepping to higher-dimensional PDEs by leveraging domain symmetries and structural properties. We systematically address three increasingly complex scenarios. First, for rectangular domains, we characterize boundary…

Safe stabilization is a significant challenge for quadrotors, which involves reaching a goal position while avoiding obstacles. Most of the existing solutions for this problem rely on optimization-based methods, demanding substantial…

We illustrate the potential of neuromorphic control on the simple mechanical model of a pendulum, with both event-based actuation and sensing. The controller and the pendulum are regarded as event-based systems that occasionally interact to…

We present a method to control transport in Hamiltonian systems. We provide an algorithm - based on a perturbation of the original Hamiltonian localized in phase space - to design small control terms that are able to create isolated…

This paper presents the inverse kinematic analysis and parameters identification of a novel aerial manipulation system. This system consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution…

In this paper, we study a wheeled robot with a prismatic extension joint. This allows the robot to build up momentum to perform jumps over obstacles and to swing up to the upright position after the loss of balance. We propose a template…

Time delays due to signal latency, computational complexity, and sensor-denied environments, pose a critical challenge in both engineered and biological control systems. In this work, we investigate biologically inspired strategies to…

This article presents a path-following control law for autonomous orbital maintenance of small body missions. The control law is robust, stable, and capable of controlling only the orbital geometry, allowing the spacecraft to operate with…