Related papers: New compound control algorithm in sliding mode con…
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…
A complete model of the motion of a quadcopter along a smooth spatial trajectory is presented. Based on the model, a robust algorithm is proposed for controlling a quadcopter using measurements of linear coordinates and yaw angle. By…
Spin squeezing is a form of entanglement that can improve the stability of quantum sensors operating with multiple particles, by inducing inter-particle correlations that redistribute the quantum projection noise. Previous analyses of…
The coupling disturbance between the manipulator and the unmanned aerial vehicle (UAV) deteriorates the control performance of system. To get high performance of the aerial manipulator, a robust fractional order fast terminal sliding mode…
Optimal control problems with oscillations (chattering controls) and concentrations (impulsive controls) can have integral performance criteria such that concentration of the control signal occurs at a discontinuity of the state signal.…
Communication is a vital component for all swarm robotics applications, and even simple swarm robotics behaviours often break down when this communication is unreliable. Since wireless communications are inherently subject to interference…
This paper presents two new control approaches for guaranteed safety (remaining in a safe set) subject to actuator constraints (the control is in a convex polytope). The control signals are computed using real-time optimization, including…
This paper presents a combined sliding-mode control and subspace stabilization methodology for orbital stabilization of periodic trajectories in underactuated mechanical systems with one degree of underactuation. The approach starts with…
This paper proposes a simulation-based reinforcement learning algorithm for controlling systems with uncertain and varying system parameters. While simulators are useful for safely learning control policies, the reality gap remains a major…
This paper proposes a form of MPC in which the control variables are moved asynchronously. This contrasts with most MIMO control schemes, which assume that all variables are updated simultaneously. MPC outperforms other control strategies…
Control barrier functions have been demonstrated to be a useful method of ensuring constraint satisfaction for a wide class of controllers, however existing results are mostly restricted to continuous time systems of relative degree one.…
Controlling of a flapping flight is one of the recent research topics related to the field of Flapping Wing Micro Air Vehicle (FW MAV). In this work, an adaptive control system for a four-wing FW MAV is proposed, inspired by its advanced…
The application of distributed model predictive controllers (DMPC) for multi-agent systems (MASs) necessitates communication between agents, yet the consequence of communication data rates is typically overlooked. This work focuses on…
This work proposes a sliding mode control barrier function to robustly deal with high relative-degree safety constraints in safety-critical control systems. Stability/tracking objectives, expressed as a nominal control law, and safety…
Automatic scam-baiting is an online fraud countermeasure that involves automated systems responding to online fraudsters in order to waste their time and deplete their resources, diverting attackers away from real potential victims.…
In recent years, many control problems of autonomous mobile robots have been developed. In particular, the robots are required to be safe; that is, they need to be controlled to avoid colliding with people or objects while traveling. In…
Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…
The paper presents a new control algorithm for unstable linear systems with input delay. In comparison with known analogues, the control law has been designed, which is a modification of the Smith predictor, and is the simplest one to…
In this paper, the feasibility of recently developed higher order delayed sliding mode controllers is addressed. With this aim the robustness against the measurement noise and mismatched perturbations for the systems governed by such…
We investigate the constant-modulus (CM) waveform design for dual-function radar communication systems in the presence of clutter.To minimize the interference power and enhance the target acquisition performance, we use the…