Related papers: Asymptotically Stable Observer-based Controller fo…
This paper presents a novel passivity-based semi-autonomous attitude control framework, with a particular focus on attitude kinematics defined on the special orthogonal group $SO(3)$. While human-robot interaction facilitates the successful…
This paper introduces a novel stabilization control strategy for linear time-invariant systems affected by known time-varying measurement delays and matched unknown nonlinear disturbances, which may encompass actuator faults. It is…
In this paper, we present a novel cascade control structure with formal guarantees of uniform almost global asymptotic stability for the state tracking error dynamics of a quadcopter. The proposed approach features a model predictive…
A novel adaptive control approach is proposed to solve the globally asymptotic state stabilization problem for uncertain pure-feedback nonlinear systems which can be transformed into the pseudo-affine form. The pseudo-affine pure-feedback…
Friction is an unavoidable phenomenon that exists in all mechanical systems incorporating parts with relative motion. It is well-known that friction is a serious impediment for precise servo control, hence the interest to devise a procedure…
The problem of estimating the angular speed of a solid body from attitude measurements is addressed. To solve this problem, we propose an observer whose dynamics are not constrained to evolve on any specific manifold. This drastically…
This paper introduces a novel attitude controller for spacecraft subject to actuator saturation and multiple exclusion cone constraints. The proposed solution relies on a two-layer approach where the first layer prestabilizes the system…
Leader-follower tracking control design has received significant attention in recent years due to its important and wide applications. Considering a multi-agent system composed of a leader and multiple followers, this paper proposes and…
Closed-loop attitude steering can be used to implement a non-standard attitude maneuver by using a conventional attitude control system to track a non-standard attitude profile. The idea has been employed to perform zero-propellant…
This paper is concerned with the stability analysis of encrypted observer-based control for linear continuous-time systems. Since conventional encryption has limited ability to deploy in continuous-time integral computation, our work…
Over the past few decades, continuous quaternion-based attitude control has been proven highly effective for driving rotational systems that can be modeled as rigid bodies, such as satellites and drones. However, methods rooted in this…
This paper addresses the synthesis of safety-critical controllers using estimate feedback. We propose an observer-controller interconnection to ensure that the nonlinear system remains safe despite bounded disturbances on the system…
Inertial Velocity-Aided Attitude (VAA), the estimation of the velocity and attitude of a vehicle using gyroscope, accelerometer, and inertial-frame velocity (e.g. GPS velocity) measurements, is an important problem in the control of…
This paper considers the observer design problem for discrete-time nonlinear dynamical systems with sampled measurement data. Earlier, the recently proposed Iteratively Preconditioned Gradient-Descent (IPG) observer, a Newton-type observer,…
In this paper, we consider the problem of set-point tracking for a discrete-time plant with unknown plant parameters belonging to a convex and compact uncertainty set. We carry out parameter estimation for an associated auxiliary plant, and…
This published paper investigates the distributed tracking control problem for a class of Euler-Lagrange multi-agent systems when the agents can only measure the positions. In this case, the lack of the separation principle and the strong…
Attitude estimation methods typically rely on full vector measurements from inertial sensors such as accelerometers and magnetometers. This paper shows that reliable estimation can also be achieved using only scalar measurements, which…
A geometric nonlinear observer algorithm for Simultaneous Localization and Mapping (SLAM) developed on the Lie group of \mathbb{SLAM}_{n}\left(3\right) is proposed. The presented novel solution estimates the vehicle's pose (i.e. attitude…
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…
A global navigation satellite system (GNSS) is a sensor that can acquire 3D position and velocity in an earth-fixed coordinate system and is widely used for outdoor position estimation of robots and vehicles. Various GNSS/inertial…