Related papers: A Control Theoretical Adaptive Human Pilot Model: …
We propose a multibody model of a freewing UAV. This model allows obtaining simulations of the UAV's behaviour and, in the future, to design a control law stabilising the entire flight envelope (hovering and forward flight). We also…
This paper presents a distributed adaptive control strategy for multi-agent systems with heterogeneous dynamics and collision avoidance. We propose an adaptive control strategy designed to ensure leader-following formation consensus while…
Learned models and policies can generalize effectively when evaluated within the distribution of the training data, but can produce unpredictable and erroneous outputs on out-of-distribution inputs. In order to avoid distribution shift when…
In this paper, we study the control design of an automatic crosswind stabilization system for a novel, buoyantly-assisted aerial transportation vehicle. This vehicle has several advantages over other aircraft including the ability to…
Cooperative adaptive cruise control presents an opportunity to improve road transportation through increase in road capacity and reduction in energy use and accidents. Clever design of control algorithms and communication systems is…
In this paper the stability of a closed-loop cascade control system in the trajectory tracking task is addressed. The considered plant consists of underlying second-order fully actuated perturbed dynamics and the first order system which…
This paper proposes a pitch plane trajectory tacking control solution for suborbital launch vehicles relying on adaptive feedback linearization. Initially, the 2D dynamics and kinematics for a single-engine, thrust-vector-controlled…
In advanced manufacturing, strict safety guarantees are required to allow humans and robots to work together in a shared workspace. One of the challenges in this application field is the variety and unpredictability of human behavior,…
This paper is concerned with synchronization of complex stochastic dynamical networks in the presence of noise and functional uncertainty. A probabilistic control method for adaptive synchronization is presented. All required probabilistic…
The aim of this work is to control the longitudinal position of an autonomous vehicle with an internal combustion engine. The powertrain has an inherent dead-time characteristic and constraints on physical states apply since the vehicle is…
The synthesis of adaptive gain-scheduling controller is discussed for continuous-time linear models characterized by polytopic uncertainties. The proposed approach computes the control law assuming the parameters as uncertain and adaptively…
Grasping using an aerial robot can have many applications ranging from infrastructure inspection and maintenance to precise agriculture. However, aerial grasping is a challenging problem since the robot has to maintain an accurate position…
We examine the feasibility of predicting and subsequently managing the future evolution of a Complex Adaptive System. Our archetypal system mimics a competitive population of mechanical, biological, informational or human objects. We show…
Imitation learning is a paradigm to address complex motion planning problems by learning a policy to imitate an expert's behavior. However, relying solely on the expert's data might lead to unsafe actions when the robot deviates from the…
One of the main features of adaptive systems is an oscillatory convergence that exacerbates with the speed of adaptation. Recently it has been shown that Closed-loop Reference Models (CRMs) can result in improved transient performance over…
In this paper, we investigate the model reference adaptive control approach for uncertain piecewise affine systems with performance guarantees. The proposed approach ensures the error metric, defined as the weighted Euclidean norm of the…
Learning-based methods are powerful in handling complex scenarios. However, it is still challenging to use learning-based methods under uncertain environments while stability, safety, and real-time performance of the system are desired to…
Learn-to-Fly (L2F) is a new framework that aims to replace the traditional iterative development paradigm for aerial vehicles with a combination of real-time aerodynamic modeling, guidance, and learning control. To ensure safe learning of…
This paper investigates an adaptive sliding-mode control for an integrated UAV autopilot and guidance system. First, a two-dimensional mathematical model of the system is derived by considering the incorporated lateral dynamics and relative…
This study aims to design a motion/force controller for an aerial manipulator which guarantees the tracking of time-varying motion/force trajectories as well as the stability during the transition between free and contact motions. To this…