Related papers: Tracking control on homogeneous spaces: the Equiva…

The control of quantum system dynamics is generally performed by seeking a suitable applied field. The physical objective as a functional of the field forms the quantum control landscape, whose topology, under certain conditions, has been…

This paper addresses the problem of longitudinal platooning control of homogeneous vehicles subject to external disturbances, such as wind gusts, road slopes, and parametric uncertainties. Our control objective is to maintain the relative…

We consider the problem of optimal path planning in different homotopy classes in a given environment. Though important in robotics applications, path-planning with reasoning about homotopy classes of trajectories has typically focused on…

This paper presents four types of tracking control systems for the attitude dynamics of a rigid body. First, a smooth control system is constructed to track a given desired attitude trajectory, while guaranteeing almost semi-global…

Current research suggests the use of a liner quadratic performance index for optimal control of regulators in various applications. Some examples include correcting the trajectory of rocket and air vehicles, vibration suppression of…

In this paper, we propose new conditions guaranteeing that 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…

Tilted hexarotors embody a technology that remains partially unexploited in terms of its potential, especially concerning precise and concurrent position and attitude control. Focusing on these aerial platforms, we propose two control…

Differentially flat models are frequently used to design feedforward controllers for electromechanical systems. However, control performance depends on model accuracy, which makes feedback imperative. This paper presents a control scheme…

Humans seamlessly fuse anticipatory planning with immediate feedback to perform successive mobile manipulation tasks without stopping, achieving both high efficiency and reliability. Replicating this fluid and reliable behavior in robots…

This paper presents a systematic framework for computing formally guaranteed trajectory tracking error bounds for autonomous helicopters based on Robust Positive Invariant (RPI) sets. The approach focuses on establishing a closed-loop…

Legged locomotion is a complex control problem that requires both accuracy and robustness to cope with real-world challenges. Legged systems have traditionally been controlled using trajectory optimization with inverse dynamics. Such…

Planning the trajectory of the controlled ego vehicle is a key challenge in automated driving. As for human drivers, predicting the motions of surrounding vehicles is important to plan the own actions. Recent motion prediction methods…

This paper presents a novel factor graph-based approach to solve the discrete-time finite-horizon Linear Quadratic Regulator problem subject to auxiliary linear equality constraints within and across time steps. We represent such optimal…

We consider the problem of feasible coordination control for multiple homogeneous or heterogeneous mobile vehicles subject to various constraints (nonholonomic motion constraints, holonomic coordination constraints, equality/inequality…

This paper presents global tracking strategies for the attitude dynamics of a rigid body. It is well known that global attractivity is prohibited for continuous attitude control systems on the special orthogonal group. Such topological…

In this paper, we investigate the optimal output tracking problem for linear discrete-time systems with unknown dynamics using reinforcement learning and robust output regulation theory. This output tracking problem only allows to utilize…

Designing controllers to generate various trajectories has been studied for years, while recently, recovering an optimal controller from trajectories receives increasing attention. In this paper, we reveal that the inherent linear quadratic…

This paper provides new results for a robust adaptive 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…

This paper concentrates on the collaborative target tracking control of a pair of tracking vehicles with formation constraints. The proposed controller requires only distance measurements between tracking vehicles and the target. Its…

We study formation control problems. Our approach is to let a group of systems maximize their pairwise distances whilst bringing them all to a given submanifold, determining the shape of the formation. The algorithm we propose allows to…