Related papers: Analysis and Control of a Planar Quadrotor
This paper presents a scheme to design a tracking controller for a class of uncertain nonlinear systems using a robust feedback linearization approach. The scheme is composed of two steps. In the first step, a linearized uncertainty model…
A desirable property in fault-tolerant controllers is adaptability to system changes as they evolve during systems operations. An adaptive controller does not require optimal control policies to be enumerated for possible faults. Instead it…
This paper investigates tracking controls for an arbitrary number of cooperating quadrotor unmanned aerial vehicles with a suspended rigid body payload. Assuming that a rigid body is connected to multiple quadrotors by rigid massless links,…
We study the problem of learning the input-output map of a controlled vibrating plate with a composite structure from experimental measurements. Analytical modeling of this control system faces challenges due to the essential orthotropy and…
In this paper, we present Asynchronous implementation of Deep Neural Network-based Model Reference Adaptive Control (DMRAC). We evaluate this new neuro-adaptive control architecture through flight tests on a small quadcopter. We demonstrate…
This paper deals with the dynamics and controls of a quadrotor unmanned aerial vehicle that is connected to a fixed point on the ground via a tether. Tethered quadrotors have been envisaged for long-term aerial surveillance with high-speed…
Recent research has shown that supervised learning can be an effective tool for designing optimal feedback controllers for high-dimensional nonlinear dynamic systems. But the behavior of these neural network (NN) controllers is still not…
Motion planning in high-dimensional space is a challenging task. In order to perform dexterous manipulation in an unstructured environment, a robot with many degrees of freedom is usually necessary, which also complicates its motion…
This paper discusses the systematic design of an adaptive feedback linearizing neurocontroller for a high-order model of the synchronous machine/infinite bus power system. The power system is first modelled as an input-output nonlinear…
Current control algorithms for aerial robots struggle with robustness in dynamic environments and adverse conditions. Model-based reinforcement learning (RL) has shown strong potential in handling these challenges while remaining…
Utilizing a servo to tilt each rotor transforms quadrotors from underactuated to overactuated systems, allowing for independent control of both attitude and position, which provides advantages for aerial manipulation. However, this…
Unmanned Aerial Vehicle (UAV) quadrotor is a UAV with four rotors. The quadrotor control is a difficult task because the four-wheel system is inefficient. The purpose of this paper is to provide specifications and implement a separate quad…
Model predictive control (MPC) is an effective method for controlling robotic systems, particularly autonomous aerial vehicles such as quadcopters. However, application of MPC can be computationally demanding, and typically requires…
Canard cycles are periodic orbits that appear as special solutions of fast-slow systems (or singularly perturbed Ordinary Differential Equations). It is well known that canard cycles are difficult to detect, hard to reproduce numerically,…
This paper studies a class of complex-valued linear systems whose state evolution dependents on both the state vector and its conjugate. The complex-valued linear system comes from linear dynamical quantum control theory and is also…
In this paper we present a learning-based tracking controller based on Gaussian processes (GP) for a fault-tolerant hexarotor in a recovery maneuver. In particular, to estimate certain uncertainties that appear in a hexacopter vehicle with…
Aerial robots can enhance their safe and agile navigation in complex and cluttered environments by efficiently exploiting the information collected during a given task. In this paper, we address the learning model predictive control problem…
This paper addresses the problems of stabilization, robust control, and observer design for nonlinear systems. We build upon recently a proposed method based on contraction theory and convex optimization, extending the class of systems to…
We derived a coordinate-free form of equations of motion for a complete model of a quadrotor UAV with a payload which is connected via a flexible cable according to Lagrangian mechanics on a manifold. The flexible cable is modeled as a…
In this paper, we propose a deep unfolding-based framework for the output feedback control of systems with input saturation. Although saturation commonly arises in several practical control systems, there is still a scarce of effective…