Related papers: Underactuated Source Seeking by Surge Force Tuning…
All the existing source-seeking algorithms for unicycle models in GPS-denied settings guarantee at best an exponential rate of convergence over an infinite interval. Using the recently introduced time-varying feedback tools for…
We consider a three-dimensional problem of steering a nonholonomic vehicle to seek an unknown source of a spatially distributed signal field without any position measurement. In the literature, there exists an extremum seeking-based…
This Technical Note presents a simple control approach for global trajectory tracking and formation control of underactuated surface vessels equipped with only two propellers. The control approach exploits the inherent cascaded structure of…
In this paper, we present a global state feedback tracking controller for underactuated surface marine vessels. This controller is based on saturated control inputs and, under an assumption on the reference trajectory, the closed-loop…
This paper studies a stochastic extremum seeking method to steer a nonholonomic vehicle to the unknown source of a static spatially distributed filed in a plane. The key challenge lies in the lack of vehicle's position information and the…
We present a novel extremum seeking method for affine connection mechanical control systems. The proposed control law involves periodic perturbation signals with sufficiently large amplitudes and frequencies. A suitable averaging analysis…
This paper proposes a method for formation path following control of a fleet of underactuated autonomous underwater vehicles. The proposed method combines several hierarchic tasks in a null space-based behavioral algorithm to safely guide…
In this paper, we investigate the problem of source seeking with a unicycle in the presence of local extrema. Our study is motivated by the fact that most of the existing source seeking methods follow the gradient direction of the signal…
The energy shaping method, Controlled Lagrangian, is a well-known approach to stabilize the under-actuated Euler Lagrange (EL) systems. In this approach, to construct a control rule, some nonlinear, nonhomogeneous partial differential…
Underactuated systems like sea vessels have degrees of motion that are insufficiently matched by a set of independent actuation forces. In addition, the underlying trajectory-tracking control problems grow in complexity in order to decide…
In this paper we validate, including experimentally, the effectiveness of a recent theoretical developments made by our group on control-affine Extremum Seeking Control (ESC) systems. In particular, our validation is concerned with the…
This paper focuses on the use of unknown input observers for detection and isolation of actuator and effector faults with control reconfiguration in overactuated systems. The control allocation actively uses input redundancy in order to…
We present a method for providing statistical guarantees on runtime safety and goal reachability for integrated planning and control of a class of systems with unknown nonlinear stochastic underactuated dynamics. Specifically, given a…
This paper proposes a formation control method for two underactuated unmanned surface vessels (USVs) to follow curved paths in the presence of ocean currents. By uniting a line-of-sight (LOS) guidance law and the null-spacebased behavioral…
This paper addresses the problem of distributed coordination control of spacecraft formation. It is assumed that the agents measure relative positions of each other with a non-zero, unknown constant sensor bias. The translational dynamics…
This paper proposes a novel method for formation path following of multiple underactuated autonomous underwater vehicles. The method combines line-of-sight guidance with null-space-based behavioral control, allowing the vehicles to follow…
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…
We develop a framework for localized source detection in dynamical systems governed by nonlinear partial differential equations based on first and second-order sensitivity analysis. Building on the standard adjoint formulation, which…
In this work, we investigate the state stabilization and trajectory tracking problems of underactuated surface ships with full state model of having non-diagonal inertia and damping matrices. By combining the novel state transformations,…
Extremum seeking control (ESC) are optimization algorithms in continuous time, with model-based ESCs using true derivative information of the cost function and model-free ESCs utilizing perturbation-based estimates instead. Stability…