Related papers: Tracking control on homogeneous spaces: the Equiva…
We present a framework for bi-level trajectory optimization in which a system's dynamics are encoded as the solution to a constrained optimization problem and smooth gradients of this lower-level problem are passed to an upper-level…
In this paper a geometric approach to the trajectory tracking control of Unmanned Aerial Vehicles with thrust vectoring capabilities is proposed. The control design is suitable for aerial systems that allow to effectively decouple position…
The goal of quantum tracking control is to identify shaped fields to steer observable expectation values along designated time-dependent tracks. The fields are determined via an iteration-free procedure, which is based on inverting the…
Trajectory optimization is a popular strategy for planning trajectories for robotic systems. However, many robotic tasks require changing contact conditions, which is difficult due to the hybrid nature of the dynamics. The optimal sequence…
Approximate dynamic programming has been investigated and used as a method to approximately solve optimal regulation problems. However, the extension of this technique to optimal tracking problems for continuous time nonlinear systems has…
This paper addresses the problem of designing a trajectory tracking control law for a quadrotor UAV, subsequent to complete failure of a single rotor. The control design problem considers the reduced state space which excludes the angular…
Mechanical systems naturally evolve on principal bundles describing their inherent symmetries. The ensuing factorization of the configuration manifold into a symmetry group and an internal shape space has provided deep insights into the…
Given a finite-dimensional time continuous control system and $\varepsilon>0$, we address the question of the existence of controls that maintain the corresponding state trajectories in the $\varepsilon$-neighborhood of any prescribed path…
The invariant ellipsoid method is aimed at minimization of the smallest invariant and attractive set of a linear control system operating under bounded external disturbances. This paper extends this technique to a class of the so-called…
A Model Predictive Controller for Tracking is introduced for rendezvous with non-cooperative tumbling targets in active debris removal applications. The target's three-dimensional non-periodic rotational dynamics as well as other state and…
Sequential Convex Programming (SCP) has recently gained popularity as a tool for trajectory optimization due to its sound theoretical properties and practical performance. Yet, most SCP-based methods for trajectory optimization are…
Quadrotors that can operate predictably in the presence of imperfect model knowledge and external disturbances are crucial in safety-critical applications. We present L1Quad, a control architecture that ensures uniformly bounded transient…
We study control systems invariant under a Lie group with application to the problem of nonlinear trajectory planning. A theory of symmetry reduction of exterior differential systems is employed to demonstrate how symmetry reduction and…
The attitude tracking problem for a full-actuated rigid body in 3D is studied using a impulsive system model based on Lie algebra so(3). A nonlinear homogeneous controller is designed to globally track a smooth attitude trajectory in a…
A new method is developed to design controllers in Euclidean space for systems defined on manifolds. The idea is to embed the state-space manifold $M$ of a given control system into some Euclidean space $\mathbb R^n$, extend the system from…
We consider the problem of cooperative manipulation by a mobile multi-manipulator system operating in obstacle-cluttered and highly constrained environments under spatio-temporal task specifications. The task requires transporting a grasped…
The optimal control input for linear systems can be solved from algebraic Riccati equation (ARE), from which it remains questionable to get the form of the exact solution. In engineering, the acceptable numerical solutions of ARE can be…
This paper addresses the advancements in on-road trajectory planning for Autonomous Passenger Vehicles (APV). Trajectory planning aims to produce a globally optimal route for APVs, considering various factors such as vehicle dynamics,…
We consider joint trajectory generation and tracking control for under-actuated robotic systems. A common solution is to use a layered control architecture, where the top layer uses a simplified model of system dynamics for trajectory…
The linear-quadratic regulator (LQR) is an efficient control method for linear and linearized systems. Typically, LQR is implemented in minimal coordinates (also called generalized or "joint" coordinates). However, other coordinates are…