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This paper presents an intelligent controller for uncertain underactuated nonlinear systems. The adopted approach is based on sliding mode control and enhanced by an artificial neural network to cope with modeling inaccuracies and external…

The PID controller is an elegant and versatile controller for set point tracking in double integrator systems of which mechanical systems evolving on Euclidean space constitute a large class. But since mechanical systems are typically…

To implement autonomous driving, one essential step is to model the vehicle environment based on the sensor inputs. Radars, with their well-known advantages, became a popular option to infer the occupancy state of grid cells surrounding the…

It is essential in many applications to impose a scalable coordinated motion control on a large group of mobile robots, which is efficient in tasks requiring repetitive execution, such as environmental monitoring. In this paper, we design a…

Incremental input-to-state stability (delta-ISS) offers a robust framework to ensure that small input variations result in proportionally minor deviations in the state of a nonlinear system. This property is essential in practical…

With the development of autonomous driving technology, there are increasing demands for vehicle control, and MPC has become a widely researched topic in both industry and academia. Existing MPC control methods based on vehicle kinematics or…

Controlling nonlinear systems, especially when data are being used to offset uncertainties in the model, is hard. A natural approach when dealing with the challenges of nonlinear control is to reduce the system to a linear one via change of…

We present a new type of feedback linearization that is tailored for mechanical control systems. We call it a mechanical feedback linearization. Its basic feature is preservation of the mechanical structure of the system. For mechanical…

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…

Using a designed vector field to control a mobile robot to follow a given desired path is intuitive and practical, and to build a rigorous theory to guide its implementation is essential. In this paper, we study the properties of a general…

This paper investigates the problem of traffic surveillance using an unmanned aerial vehicle (UAV) and proposes a domain-knowledge-aided airborne ground moving targets tracking algorithm. To improve the accuracy of multiple targets…

We study in this paper the problem of adaptive trajectory tracking for nonlinear systems affine in the control with bounded state-dependent and time-dependent uncertainties. We propose to use a modular approach, in the sense that we first…

Biological evidence shows that animals are capable of evading eminent collision without using depth information, relying solely on looming stimuli. In robotics, collision avoidance among uncooperative vehicles requires measurement of…

This paper presents a new data-driven control for multi-input, multi-output nonlinear systems with partially unknown dynamics and bounded disturbances. Since exact nonlinearity cancellation is not feasible with unknown disturbances, we…

We study tracking control for uncertain nonlinear multi-input, multi-output systems modelled by $r$-th order functional differential equations (encompassing systems with arbitrary strict relative degree) in the presence of input…

This paper addresses the three-dimensional path-following guidance problem for unmanned aerial vehicles under explicit actuator constraints. Unlike conventional approaches that assume unbounded control inputs or handle saturation…

Output reference tracking of unknown nonlinear systems is considered. The control objective is exact tracking in predefined finite time, while in the transient phase the tracking error evolves within a prescribed boundary. To achieve this,…

The safety and security of robotic systems are paramount when navigating around a hostile target. This paper addresses the problem of circumnavigating an unknown target by a unicycle robot while ensuring it maintains a desired safe distance…

New quadrotor UAV control algorithms are developed, based on nonlinear surfaces composed of tracking errors that evolve directly on the nonlinear configuration manifold, thus inherently including in the control design the nonlinear…

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…