Related papers: Attitude Tracking for Rigid Bodies Using Vector an…
The proposed control method uses an adaptive feedforward-based controller to establish a passive input-output mapping for the CDPR that is used alongside a linear time-invariant strictly positive real feedback controller to guarantee robust…
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…
The quadrotor task of negotiating aggressive attitude maneuvers while adhering to motor constraints is addressed here. The majority of high level quadrotor Nonlinear Control System (NCS) solutions ignore motor control authority limitations,…
Real-time object pose estimation and tracking is challenging but essential for emerging augmented reality (AR) applications. In general, state-of-the-art methods address this problem using deep neural networks which indeed yield…
Estimating the limbs pose in a wearable way may benefit multiple areas such as rehabilitation, teleoperation, human-robot interaction, gaming, and many more. Several solutions are commercially available, but they are usually expensive or…
This study aims to design a motion/force controller for an aerial manipulator which guarantees the tracking of time-varying motion/force trajectories as well as the stability during the transition between free and contact motions. To this…
Aligning a robot's trajectory or map to the inertial frame is a critical capability that is often difficult to do accurately even though inertial measurement units (IMUs) can observe absolute roll and pitch with respect to gravity.…
The attitude control of a quadrotor is a fundamental problem, which has a pivotal role in a quadrotor stabilization and control. What makes this problem more challenging is the presence of uncertainty such as unmodelled dynamics and unknown…
A deterministic attitude estimation problem for a rigid body in a potential field, with bounded attitude and angular velocity measurement errors is considered. An attitude estimation algorithm that globally minimizes the attitude estimation…
In many applications of advanced robotic manipulation, six degrees of freedom (6DoF) object pose estimates are continuously required. In this work, we develop a multi-modality tracker that fuses information from visual appearance and…
This paper presents a visual-inertial-based control strategy to address the task space control problem of robot manipulators. To this end, an observer-based hybrid controller is employed to control end-effector motion. In addition, a hybrid…
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…
Traditionally, controllers and state estimators in robotic systems are designed independently. Controllers are often designed assuming perfect state estimation. However, state estimation methods such as Visual Inertial Odometry (VIO) drift…
This paper proposes an adaptive tracking strategy with mass-inertia estimation for aerial transportation problems of multi-rotor UAVs. The dynamic model of multi-rotor UAVs with disturbances is firstly developed with a linearly…
The design of navigation observers able to simultaneously estimate the position, linear velocity and orientation of a vehicle in a three-dimensional space is crucial in many robotics and aerospace applications. This problem was mainly dealt…
In this work, asymptotically stable state estimation schemes are proposed for rigid body motion, using the framework of geometric mechanics. Rigorous stability analyses of the estimation schemes presented here guarantee the nonlinear…
This paper presents a novel approach for robust periodic attitude control of satellites. Respecting the periodicity of the satellite dynamics in the synthesis allows to achieve constant performance and robustness requirements over the…
This work presents the design and the corresponding stability analysis of a model based, joint position tracking error constrained, adaptive output feedback controller for robot manipulators. Specifically, provided that the initial joint…
A spherical robot consists of an externally spherical rigid body rolling on a two-dimensional surface, actuated by an auxiliary mechanism. For a class of actuation mechanisms, we derive a controller for the geometric center of the sphere to…
This paper addresses the distributed attitude synchronization problem of multiple spacecraft with unknown inertia matrices. Two distributed adaptive controllers are proposed for the cases with and without a virtual leader to which a…