Related papers: $H_{\infty}$ Inverse Optimal Attitude Tracking on …
Implicit inverse problems, in which noisy observations of a physical quantity are used to infer a nonlinear functional applied to an associated function, are inherently ill posed and often exhibit non uniqueness of solutions. Such problems…
This paper contributes towards the development of motion tracking algorithms for time-critical applications, proposing an infrastructure for solving dynamically the inverse kinematics of highly articulate systems such as humans. We present…
This letter presents a novel control solution to the robust global position and heading tracking problem for underactuated vehicles, equipped with single-axis thrust and full torque actuation, operating under strict, user-defined actuation…
We revisit the nonlinear complimentary filter on $SO(3)$, previously proposed in the literature, and provide the (time-explicit) solution to the matrix ODE governing the attitude estimation error in the absence of measurement errors. The…
This work studies the inverse optimality of input-to-state stabilizing controllers with input-output stability guarantees for nonlinear homogeneous systems. We formulate a new inverse optimal control problem, where the cost functional…
We study a trajectory-planning problem whose solution path evolves by means of a Lie group action and passes near a designated set of target positions at particular times. This is a higher-order variational problem in optimal control,…
This paper proposes a real-time neural network (NN) stochastic filter-based controller on the Lie Group of the Special Orthogonal Group $SO(3)$ as a novel approach to the attitude tracking problem. The introduced solution consists of two…
There are several attitude estimation algorithms in existence, all of which use local coordinate representations for the group of rigid body orientations. All local coordinate representations of the group of orientations have associated…
In the context of optimal control, we consider the inverse problem of Lagrangian identification given system dynamics and optimal trajectories. Many of its theoretical and practical aspects are still open. Potential applications are very…
This paper proposes two novel nonlinear attitude filters evolved directly on the Special Orthogonal Group SO(3) able to ensure prescribed measures of transient and steady-state performance. The tracking performance of the normalized…
This paper presents an inverse optimality method to solve the Hamilton-Jacobi-Bellman equation for a class of nonlinear problems for which the cost is quadratic and the dynamics are affine in the input. The method is inverse optimal because…
In this chapter, we are concerned with inverse optimal control problems, i.e., optimization models which are used to identify parameters in optimal control problems from given measurements. Here, we focus on linear-quadratic optimal control…
This paper introduces two novel nonlinear stochastic attitude estimators developed on the Special Orthogonal Group \mathbb{SO}\left(3\right) with the tracking error of the normalized Euclidean distance meeting predefined transient and…
In this paper, we address the problem of attitude synchronization for a group of rigid body systems evolving on SO(3). The interaction among these systems is modeled through an undirected, connected, and acyclic graph topology. First, we…
The spacecraft attitude tracking problem is addressed with actuator faults and uncertainties among inertias, external disturbances, and, in particular, state estimates. A continuous sliding mode attitude controller is designed using…
Tilted hexarotors embody a technology that remains partially unexploited in terms of its potential, especially concerning precise and concurrent position and attitude control. Focusing on these aerial platforms, we propose two control…
Agile attitude maneuvering maximizes the utility of remote sensing satellite constellations. By taking into account a satellite's physical properties and its actuator specifications, we may leverage the full performance potential of the…
This paper proposes an optimization-based approach to predict trajectories of autonomous race cars. We assume that the observed trajectory is the result of an optimization problem that trades off path progress against acceleration and jerk…
Optimal control problems are formulated and efficient computational procedures are proposed for attitude dynamics of a rigid body with symmetry. The rigid body is assumed to act under a gravitational potential and under a structured control…
This paper presents a theoretical framework for analyzing the stability of higher-order geometric nonlinear control laws for attitude control on the Special Orthogonal Group $\mathrm{SO(3)}$. In particular, the paper extends existing…