Related papers: Switching Model Predictive Control for Online Stru…
This paper presents the design of a gimballed rotor mechanism as a modular and efficient solution for constructing omnidirectional quadrotors. Unlike conventional quadrotors, which are underactuated, this class of quadrotors achieves full…
In this paper a coalitional control and observation scheme is presented in which the coalitions are changed online by enabling and disabling communication links. Transitions between coalitions are made to best balance overall system…
We introduce a new concept called scalability to adaptive control in this paper. In particular, we analyze how to scale learning rates of adaptive weight update laws of various adaptive control schemes with respect to given command profiles…
Robots and automated systems are increasingly being introduced to unknown and dynamic environments where they are required to handle disturbances, unmodeled dynamics, and parametric uncertainties. Robust and adaptive control strategies are…
Soft robots have been leveraged in considerable areas like surgery, rehabilitation, and bionics due to their softness, flexibility, and safety. However, it is challenging to produce two same soft robots even with the same mold and…
In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work…
This paper presents the development of a sliding mode controller using the backstepping approach. The controller is employed to synthesize tracking errors and Lyapunov functions. A novel state-space representation is formulated by…
Conformal prediction is a popular, modern technique for providing valid predictive inference for arbitrary machine learning models. Its validity relies on the assumptions of exchangeability of the data, and symmetry of the given model…
Collaborative robots and space manipulators contain significant joint flexibility. It complicates the control design, compromises the control bandwidth, and limits the tracking accuracy. The imprecise knowledge of the flexible joint…
This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transformation, we convert diverse vehicle…
This paper proposes a geometric adaptive controller for a quadrotor unmanned aerial vehicle with artificial neural networks. It is assumed that the dynamics of a quadrotor is disturbed by arbitrary, unstructured forces and moments caused by…
Traditional aerial vehicles are usually custom-designed for specific tasks. Although they offer an efficient solution, they are not always able to adapt to changes in the task specification, e.g., increasing the payload. This applies to…
In this paper, we present a novel cascade control structure with formal guarantees of uniform almost global asymptotic stability for the state tracking error dynamics of a quadcopter. The proposed approach features a model predictive…
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…
Quadrotors have gained popularity over the last decade, aiding humans in complex tasks such as search and rescue, mapping and exploration. Despite their mechanical simplicity and versatility compared to other types of aerial vehicles, they…
This paper discusses translation and attitude control in spacecraft rendezvous and soft docking. The target spacecraft orbit can be either circular or elliptic. The high fidelity model for this problem is intrinsically a nonlinear system…
The deformable linear objects (DLOs) are common in both industrial and domestic applications, such as wires, cables, ropes. Because of its highly deformable nature, it is difficult for the robot to reproduce human's dexterous skills on…
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…
Evolutionary robotics aims to automatically design autonomous adaptive morphological robots that can evolve to accomplish a specific task while adapting to environmental changes. Soft robotics have demonstrated the feasibility of…
This paper presents an aggressiveness-aware control framework for quadrotor UAVs that integrates learning-based oracles to mitigate the effects of unknown disturbances. Starting from a nominal tracking controller on $\mathrm{SE}(3)$,…