Related papers: Asymptotically Stable Observer-based Controller fo…
This paper presents three non-linear observers on three examples of engineering interest: a chemical reactor, a non-holonomic car, and an inertial navigation system. For each example, the design is based on physical symmetries. This…
Two nonlinear observers for velocity-aided attitude estimation, relying on gyrometers, accelerometers, magnetometers, and velocity measured in the body-fixed frame, are proposed. As opposed to state-of-the-art body-fixed velocity-aided…
The event-triggered control with intermittent output can reduce the communication burden between the controller and plant side over the network. It has been exploited for adaptive output feedback control of uncertain nonlinear systems in…
This work proposes a quaternion-based sliding variable that describes exponentially convergent error dynamics for any forward complete desired attitude trajectory. The proposed sliding variable directly operates on the non-Euclidean space…
Attitude tracking on the unit sphere of dimension $3$ based on sliding mode is considered in this paper. The tangent bundle of Lagrangian dynamics that describes the rotational motion of a rigid body is first shown to be a Lie group, and…
This paper provides an exponential stability result for the adaptive anti-unwinding attitude tracking control problem of a rigid body with uncertain but constant inertia parameters, without requiring the satisfaction of persistent…
This paper provides a method for obtaining a continuous-time model of a target system in closed-loop from input-output data alone, in the case where no knowledge of the controllers nor excitation signals is available and I/O data may suffer…
The control task of tracking a reference pointing direction (the attitude about the pointing direction is irrelevant) while obtaining a desired angular velocity (PDAV) around the pointing direction using geometric techniques is addressed…
This paper develops an adaptive tracking controller for a class of nonlinear systems with parametric uncertainty subject to state constraints. The system is characterized by a strict-feedback structure with unknown parameters entering both…
In this paper, we present a novel decentralized controller to drive multiple unmanned aerial vehicles (UAVs) into a symmetric formation of regular polygon shape surrounding a mobile target. The proposed controller works for time-varying…
The attitude stabilization of a micro-satellite employing a variable-amplitude cold gas thruster which reflects as a time varying gain on the control input is considered. Existing literature uses a persistence filter based approach that…
Stability proof of the controller proposed in the conference paper "Attitude and Angular Velocity Tracking for a Rigid Body using Geometric Methods on the Two-Sphere", DOI: 10.1109/ECC.2015.7331033. This proof must be studied together with…
An adaptive observer is proposed to estimate the synaptic distribution between neurons asymptotically from the measurement of a part of the neuronal activity and a delayed neural field evolution model. The convergence of the observer is…
In a recent paper [18] the authors proposed the first solution to the problem of designing a {\em globally exponentially stable} (GES) flux observer for the interior permanent magnet synchronous motor. However, the establishment of the…
We propose a simple nonlinear observer for estimating the attitude and velocity of a rigid body from the measurements of specific acceleration, angular velocity, magnetic field (in body axes), and linear velocity (in body axes). It is…
Dynamical models are often corrupted by model uncertainties, external disturbances, and measurement noise. These factors affect the performance of model-based observers and as a result, affect the closed-loop performance. Therefore, it is…
This paper introduces a novel distributed consensus-based observer design that enables a group of agents in an undirected communication network to solve the problem of target tracking, where the target is modelled as a chain of integrators…
This paper presents a cascaded control architecture, based on nonlinear dynamic inversion (NDI), for rigid body attitude control. The proposed controller works directly with the rotation matrix parameterization, that is, with elements of…
We design a reduced attitude controller for reorienting the spin axis of a gyroscope in a geometric control framework. The proposed controller preserves the inherent gyroscopic stability associated with a spinning axis-symmetric rigid body.…
This paper focuses on the spacecraft attitude control problem with intermittent actuator activation, taking into account the attitude rotation rate limitation and input saturation issue simultaneously. To address this problem, we first…