Related papers: Tracking control on homogeneous spaces: the Equiva…
High performance trajectory tracking control of quadrotor vehicles is an important challenge in aerial robotics. Symmetry is a fundamental property of physical systems and offers the potential to provide a tool to design high-performance…
The trajectory tracking problem is a fundamental control task in the study of mechanical systems. A key construction in tracking control is the error or difference between an actual and desired trajectory. This construction also lies at the…
Tracking controllers enable robotic systems to accurately follow planned reference trajectories. In particular, reinforcement learning (RL) has shown promise in the synthesis of controllers for systems with complex dynamics and modest…
A wide range of system models in modern robotics and avionics applications admit natural symmetries. Such systems are termed equivariant and the structure provided by the symmetry is a powerful tool in the design of observers. Significant…
We develop a functional-analytic characterization of output tracking controllability for finite-dimensional linear systems. By formulating tracking as the surjectivity of the control-to-output map on suitable trajectory spaces, we show that…
The configuration of most robotic systems lies in continuous transformation groups. However, in mobile robot trajectory tracking, many recent works still naively utilize optimization methods for elements in vector space without considering…
There has been substantial recent progress on the theoretical understanding of model-free approaches to Linear Quadratic Regulator (LQR) problems. Much attention has been devoted to the special case when the goal is to drive the state close…
In this work, we address the design of tracking controllers that drive a mechanical system's state asymptotically towards a reference trajectory. Motivated by aerospace and robotics applications, we consider fully-actuated systems evolving…
Trajectory tracking for the kinematic unicycle has been heavily studied for several decades. The unicycle admits a natural $\SE(2)$ symmetry, a key structure exploited in many of the most successful nonlinear controllers in the literature.…
A complete model of the motion of a quadcopter along a smooth spatial trajectory is presented. Based on the model, a robust algorithm is proposed for controlling a quadcopter using measurements of linear coordinates and yaw angle. By…
The control of free-floating robots requires dealing with several challenges. The motion of such robots evolves on a continuous manifold described by the Special Euclidean Group of dimension 3, known as SE(3). Methods from finite horizon…
The kinematics of many mechanical systems encountered in robotics and other fields, such as single-bearing attitude estimation and SLAM, are naturally posed on homogeneous spaces: That is, their state lies in a smooth manifold equipped with…
This paper addresses the trajectory-tracking problem for a class of electromechanical systems. To this end, the dynamics of the plants are modeled in the so-called port-Hamiltonian framework. Then, the notion of contraction is exploited to…
Mechanical control systems such as aerial, marine, space, and terrestrial robots often naturally admit a state-space that has the structure of a Lie group. The kinetic energy of such systems is commonly invariant to the induced action by…
This note proposes a general control approach, called vector-field guided constraint-following control, to solve the dynamics control problem of geometric path-following for a class of uncertain mechanical systems. More specifically, it…
For controller design for systems on manifolds embedded in Euclidean space, it is convenient to utilize a theory that requires a single global coordinate system on the ambient Euclidean space rather than multiple local charts on the…
This paper considers two different problems in trajectory tracking control for linear systems. First, if the control is not unique which is most input energy efficient. Second, if exact tracking is infeasible which control performs most…
This paper studies the problem of steering a linear time-invariant system subject to state and input constraints towards a goal location that may be inferred only through partial observations. We assume mixed-observable settings, where the…
This paper deals with the problem of output regulation for systems defined on matrix Lie-Groups. Reference trajectories to be tracked are supposed to be generated by an exosystem, defined on the same Lie-Group of the controlled system, and…
We investigate optimal control of dynamical systems which are affine, i.e., linear in control, but nonlinear in state. The control task is to enforce the system state to follow a prescribed desired trajectory as closely as possible, a task…