Related papers: Markov Data-Based Reference Tracking of Tensegrity…
Stochastic optimal control problems have a long tradition in applied probability, with the questions addressed being of high relevance in a multitude of fields. Even though theoretical solutions are well understood in many scenarios, their…
This paper presents a controller design and optimization framework for nonlinear dynamic systems to track a given reference signal in the presence of disturbances when the task is repeated over a finite-time interval. This novel framework…
Unmanned aerial vehicle (UAV) swarm control has applications including target tracking, surveillance, terrain mapping, and precision agriculture. Decentralized control methods are particularly useful when the swarm is large, as centralized…
Autopilots for fixed-wing aircraft are typically designed based on linearized aerodynamic models consisting of stability and control derivatives obtained from wind-tunnel testing. The resulting local controllers are then pieced together…
The aim of this work is to study the dynamics and stability of soft shape-morphing configurations and specifically the modes of interaction between the front and rear airfoil segments. Initially we present several steady-state solutions,…
We study the problem of data-driven, constrained control of unknown nonlinear dynamics from a single ongoing and finite-horizon trajectory. We consider a one-step optimal control problem with a smooth, black-box objective, typically a…
This paper investigates the robust nonlinear close formation control problem. It aims to achieve precise position control at dynamic flight operation for a follower aircraft under the aerodynamic impact due to the trailing vortices…
This Technical Note presents a simple control approach for global trajectory tracking and formation control of underactuated surface vessels equipped with only two propellers. The control approach exploits the inherent cascaded structure of…
Quadrotor flight is an extremely challenging problem due to the limited control authority encountered at the limit of handling. Model Predictive Contouring Control (MPCC) has emerged as a promising model-based approach for time optimization…
Learning to perform perfect tracking tasks based on measurement data is desirable in the controller design of systems operating repetitively. This motivates the present paper to seek an optimization-based design approach for iterative…
We investigate the performance of a lightweight tracking controller, based on a flow version of the Newton-Raphson method, applied to a miniature blimp and a mid-size quadrotor. This tracking technique admits theoretical performance…
In this paper, we present a cascade control structure to address the trajectory tracking problem for quadcopters, ensuring uniform global asymptotic stability of the state tracking error dynamics. An MPC strategy based on a 12-dimensional…
This paper studies the tracking control problem for nonholonomic mobile robots based on second order dynamics, with application to consensus tracking and formation tracking. The greatest novelty in this paper is that the reference…
The goal of model reference adaptive control (MRAC) is to ensure that the trajectories of an unknown dynamical system track those of a given reference model. This is done by means of a feedback controller that adaptively changes its gains…
This paper addresses the conservatism in data-driven reachability analysis for discrete-time linear systems subject to bounded process noise, where the system matrices are unknown and only input--state trajectory data are available.…
Motion planning for autonomous vehicles requires spatio-temporal motion plans (i.e. state trajectories) to account for dynamic obstacles. This requires a trajectory tracking control process which faithfully tracks planned trajectories. In…
We investigate the problem of data-driven, on-the-fly control of systems with unknown nonlinear dynamics where data from only a single finite-horizon trajectory and possibly side information on the dynamics are available. Such side…
In this work, we study minimum data rate tracking of a dynamical system under a neuromorphic event-based sensing paradigm. We begin by bridging the gap between continuous-time (CT) system dynamics and information theory's causal rate…
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…
To overcome the limitations of current parafoil precision landing capabilities, an efficient real-time convex optimized guidance and control strategy is presented. Successive convexification of the parafoil guidance problem guarantees local…