Related papers: Robust Trajectory Tracking and Payload Delivery of…
The mechanical simplicity, hover capabilities, and high agility of quadrotors lead to a fast adaption in the industry for inspection, exploration, and urban aerial mobility. On the other hand, the unstable and underactuated dynamics of…
We propose a control protocol based on the prescribed performance control (PPC) methodology for a quadrotor unmanned aerial vehicle (UAV). Quadrotor systems belong to the class of underactuated systems for which the original PPC methodology…
Optimal stabilization of safety-critical nonlinear systems requires balancing long-term performance and strict safety constraints. Existing quadratic-programming-based control barrier function (CBF) safety filters are point-wise and may…
In the evolving landscape of high-speed agile quadrotor flight, achieving precise trajectory tracking at the platform's operational limits is paramount. Controllers must handle actuator constraints, exhibit robustness to disturbances, and…
This paper presents a novel approach to solve capacitated facility location problems (FLP) that encompass various resource allocation problems. FLPs are a class of NP-hard combinatorial optimization problems, involving optimal placement and…
This paper presents extensions of control barrier function (CBF) theory to systems with disturbances wherein a controller only receives measurements infrequently and operates open-loop between measurements, while still satisfying state…
Safety is one of the fundamental problems in robotics. Recently, one-step or multi-step optimal control problems for discrete-time nonlinear dynamical system were formulated to offer tracking stability using control Lyapunov functions…
Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating workspace. Thus, robust motion control is still an open issue for…
This paper studies the problem of utilizing data-driven adaptive control techniques to guarantee stability and safety of uncertain nonlinear systems with high relative degree. We first introduce the notion of a High Order Robust Adaptive…
We present a true-dynamics-agnostic, statistically rigorous framework for establishing exponential stability and safety guarantees of closed-loop, data-driven nonlinear control. Central to our approach is the novel concept of conformal…
Autonomous missions of small unmanned aerial vehicles (UAVs) are prone to collisions owing to environmental disturbances and localization errors. Consequently, a UAV that can endure collisions and perform recovery control in critical aerial…
Rotor failures in quadrotors may result in high-speed rotation and vibration due to rotor imbalance, which introduces significant challenges for autonomous flight in unknown environments. The mainstream approaches against rotor failures…
Ensuring liveness and safety of autonomous and cyber-physical systems remains a fundamental challenge, particularly when multiple safety constraints are present. This letter advances the theoretical foundations of safety-filter Quadratic…
Flying quadrotors in tight formations is a challenging problem. It is known that in the near-field airflow of a quadrotor, the aerodynamic effects induced by the propellers are complex and difficult to characterize. Although machine…
Various control methods have been studied to control the position and attitude of quadrotors. There are some differences in the mathematical equations between the two types of quadrotor configurations that lead to different control…
Trajectory optimization is a powerful tool for robot motion planning and control. State-of-the-art general-purpose nonlinear programming solvers are versatile, handle constraints effectively and provide a high numerical robustness, but they…
This paper addresses the problem of designing a trajectory tracking control law for a quadrotor UAV, subsequent to complete failure of a single rotor. The control design problem considers the reduced state space which excludes the angular…
Recent advances in deep learning have provided new data-driven ways of controller design to replace the traditional manual synthesis and certification approaches. Employing neural network (NN) as controllers however, presents its own…
Robust adaptive model predictive control (RAMPC) is a novel control method that combines robustness guarantees with respect to unknown parameters and bounded disturbances into a model predictive control scheme. However, RAMPC has so far…
Designing safety-critical control for robotic manipulators is challenging, especially in a cluttered environment. First, the actual trajectory of a manipulator might deviate from the planned one due to the complex collision environments and…