Related papers: Tracking control on homogeneous spaces: the Equiva…
This paper studies the tracking control problem for nonholonomic mobile robots based on second order dynamics, with application to consensus tracking and formation tracking. The greatest novelty in this paper is that the reference…
In this paper, we study under which conditions the trajectories of a mechanical control system can track any curve on the configuration manifold. We focus on systems that can be represented as forced affine connection control systems and we…
Many robotic systems must follow planned paths yet pause safely and resume when people or objects intervene. We present an output-space method for systems whose tracked output can be feedback-linearized to a double integrator (e.g.,…
In this paper, we tackle the long-standing challenges of ensemble control analysis and design using a convex-geometric approach in a Hilbert space setting. Specifically, we formulate the control of linear ensemble systems as a convex…
This paper considers the leader-follower tracking control problem for linear interconnected systems with undirected topology and linear dynamic coupling. Interactions between the systems are treated as linear dynamic uncertainty and are…
In this paper, we study the control of a class of time-invariant linear ensemble systems whose natural dynamics are linear in the system parameter. This class of ensemble control systems arises from practical engineering and physical…
In order to perform highly dynamic and agile maneuvers, legged robots typically spend time in underactuated domains (e.g. with feet off the ground) where the system has limited command of its acceleration and a constrained amount of time…
Model-free reinforcement learning is a promising approach for autonomously solving challenging robotics control problems, but faces exploration difficulty without information of the robot's kinematics and dynamics morphology. The…
We consider the problem of bridging the gap between geometric tracking control theory and implementation of model predictive control (MPC) for robotic systems operating on manifolds. We propose a generic on-manifold MPC formulation based on…
Inhomogeneity, in its many forms, appears frequently in practical physical systems. Readily apparent in quantum systems, inhomogeneity is caused by hardware imperfections, measurement inaccuracies, and environmental variations, and…
Flying robots such as the quadrotor could provide an efficient approach for medical treatment or sensor placing of wild animals. In these applications, continuously targeting the moving animal is a crucial requirement. Due to the…
We develop an optimization-based framework for joint real-time trajectory planning and feedback control of feedback-linearizable systems. To achieve this goal, we define a target trajectory as the optimal solution of a time-varying…
This article presents a unified approach to quadratic optimal control for both linear and nonlinear discrete-time systems, with a focus on trajectory tracking. The control strategy is based on minimizing a quadratic cost function that…
This paper provides new results for a tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid complexities and…
Universal robust quantum control is essential for performing complex quantum algorithms and efficient quantum error correction protocols. Geometric phase, as a key element with intrinsic fault-tolerant feature, can be well integrated into…
This article presents an error-state Linear Quadratic Regulator (LQR) formulation for robust trajectory tracking in quadrotor Unmanned Aerial Vehicles (UAVs). The proposed approach leverages error-state dynamics and employs exponential…
The paper solves the problem of tracking control of a quadrotor with unmeasurable pitch and roll angles based on the geometric approach with the use of the enhanced extended observer and the internal model. The proposed approach makes it…
Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamics leveraging the symmetry in the underlying robotic system,…
Hybrid Flying-Crawling Quadrotors (HyFCQs) are transformable robots with the ability of terrestrial and aerial hybrid motion. This article presents a trajectory planning and tracking framework designed for HyFCQs. In this framework, a…
We introduce a new hybrid control strategy, which is conceptually different from the commonly used synergistic hybrid approaches, to efficiently deal with the problem of the undesired equilibria that precludes smooth vectors fields on…