Related papers: Analysis and Control of a Planar Quadrotor
We present the identification of the non-linear dynamics of a novel hovercraft design, employing end-to-end deep learning techniques. Our experimental setup consists of a hovercraft propelled by racing drone propellers mounted on a…
Nonlinear PID control systems for a quadrotor UAV are proposed to follow an attitude tracking command and a position tracking command. The control systems are developed directly on the special Euclidean group to avoid singularities of…
In this paper, we present a novel developmental reinforcement learning-based controller for a quadcopter with thrust vectoring capabilities. This multirotor UAV design has tilt-enabled rotors. It utilizes the rotor force magnitude and…
In order to meet the requirements for autonomous systems in real world applications, reliable path following controllers have to be designed to execute planned paths despite the existence of disturbances and model errors. In this paper we…
The work show in this paper progresses through a sequence of physics-based increasing fidelity models that are used to design the robot controllers that respect the limits of the robot capabilities, develop a reference simple controller…
Robust global stabilization of nonlinear systems by observer-based feedback controllers is a challenging task. This article investigates the problem of designing observer-based stabilizing controllers for incrementally quadratic nonlinear…
In this work, the autonomous control of a quadrotor-manipulator unmanned aerial vehicle is treated using an extended dynamic model. Due to persistent aerodynamic disturbances and dynamic couplings, the control of a quadrotor-manipulator…
The Segway is a popular self-balancing two-wheeled vehicle. In this paper, we present a control mechanism for the planar Segway problem. The open-loop analysis validates the fact that the system is unstable by default and there is a need to…
Proportional-Integrator-Derivative (PID) controller is used in a wide range of industrial and experimental processes. There are a couple of offline methods for tuning PID gains. However, due to the uncertainty of model parameters and…
A general controller scheme for stabilizing a non-linear system, which has its origin from the linear system theory, is proposed in this paper. The proposed controller can stabilize the non-linear system subjected to initial conditions. An…
This paper investigates adaptive control of nonlinear robot manipulators with parametric uncertainty. Motivated by generating closed-loop robot dynamics with enhanced transmission capability of a reference torque and with connection to…
This paper presents a data-driven control framework for quadrotor systems that integrates a deep Koopman operator with model predictive control (DK-MPC). The deep Koopman operator is trained on sampled flight data to construct a…
This study focuses on designing and developing a mathematically based quadcopter rotational dynamics simulation framework for testing reinforcement learning (RL) algorithms in many flexible configurations. The design of the simulation…
In this paper, we propose several rules to tune the gains for a class of passivity-based controllers for nonlinear mechanical systems. Such tuning rules prescribe a desired local transient response behavior to the closed-loop system. To…
Quadrotors are highly nonlinear dynamical systems that require carefully tuned controllers to be pushed to their physical limits. Recently, learning-based control policies have been proposed for quadrotors, as they would potentially allow…
This article presents a motion planning and control framework for flexible robotic manipulators, integrating deep reinforcement learning (DRL) with a nonlinear partial differential equation (PDE) controller. Unlike conventional approaches…
This paper studies the control problem for safety-critical multi-agent systems based on quadratic programming (QP). Each controlled agent is modeled as a cascade connection of an integrator and an uncertain nonlinear actuation system. In…
We will show that there is a universal connection between the achievable closed-loop dynamics and the corresponding feedback controller that produces it. This connection shows promise to lead to new methods for robust nonlinear control in…
Stabilization and trajectory control of a quadrotor carrying a suspended load with a fixed known mass has been extensively studied in recent years. However, the load mass is not always known beforehand or may vary during the practical…
In order to further expand the flight envelope of quadrotors under actuator failures, we design a nonlinear sensor-based fault-tolerant controller to stabilize a quadrotor with failure of two opposing rotors in the high-speed flight…