Related papers: Adaptive Passivity-Based Pose Tracking Control of …
This article proposes an active-learning-based adaptive trajectory tracking control method for autonomous ground vehicles to compensate for modeling errors and unmodeled dynamics. The nominal vehicle model is decoupled into lateral and…
This paper investigates options to complement a diesel engine airpath feedback controller with a feedforward. The control objective is to track the intake manifold pressure and exhaust gas recirculation (EGR) rate targets by manipulating…
Visual pose tracking is playing an increasingly vital role in industrial contexts in recent years. However, the pose tracking for industrial metal objects remains a challenging task especially in the real world-environments, due to the…
Grasping using an aerial robot can have many applications ranging from infrastructure inspection and maintenance to precise agriculture. However, aerial grasping is a challenging problem since the robot has to maintain an accurate position…
Robots and automated systems are increasingly being introduced to unknown and dynamic environments where they are required to handle disturbances, unmodeled dynamics, and parametric uncertainties. Robust and adaptive control strategies are…
Neglecting complex aerodynamic effects hinders high-speed yet high-precision multirotor autonomy. In this paper, we present a computationally efficient learning-based model predictive controller that simultaneously optimizes a trajectory…
This thesis introduces a novel quadrotor manipulation system that consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrotor manipulation system…
This paper presents an experimental study of a path-tracking framework for autonomous vehicles in which the lateral control command is applied to a dynamic control point along the wheelbase. Instead of enforcing a fixed reference at either…
Stabilizing multi-steered articulated vehicles in backward motion is a complex task for any human driver. Unless the vehicle is accurately steered, its structurally unstable joint-angle kinematics during reverse maneuvers can cause the…
This paper proposes a model predictive trajectory tracking approach for quadrotors subject to input constraints. Our proposed approach relies on a hierarchical control strategy with an outer-loop feedback generating the required thrust and…
Model predictive control (MPC) is an effective method for control of constrained systems but is susceptible to the external disturbances and modeling error often encountered in real-world applications. To address these issues, techniques…
This paper presents a framework for dynamic object catching using a quadruped robot's front legs while it stands on its rear legs. The system integrates computer vision, trajectory prediction, and leg control to enable the quadruped to…
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 paper proposes an adaptive modular geometric control framework for robotic manipulators. The proposed methodology decomposes the overall manipulator dynamics into individual modules, enabling the design of local geometric control laws…
Quadruped robots manifest great potential to traverse rough terrains with payload. Numerous traditional control methods for legged dynamic locomotion are model-based and exhibit high sensitivity to model uncertainties and payload…
In this paper, we model the planar motion of a quadcopter, and develop a linear model of the same. We perform stability analysis of the open loop system and develop a PD controller for its position control. We compare the closed loop…
Compliance plays a crucial role in manipulation, as it balances between the concurrent control of position and force under uncertainties. Yet compliance is often overlooked by today's visuomotor policies that solely focus on position…
This paper formally develops a novel hierarchical planning and control framework for robust payload transportation by quadrupedal robots, integrating a model predictive control (MPC) algorithm with a gradient-descent-based adaptive updating…
For the aerial manipulator that performs aerial work tasks, the actual operating environment it faces is very complex, and it is affected by internal and external multi-source disturbances. In this paper, to effectively improve the…
For Cable-Driven Parallel Robots, the cable length is the only element we control. Better knowledge of this parameter will improve robot performances. We propose a new cable length autocalibration subsystem. It consists of an instrumented…