Related papers: A flatness-based saturated controller design for a…
This work addresses the problem of robust attitude control of quadcopters. First, the mathematical model of the quadcopter is derived considering factors such as nonlinearity, external disturbances, uncertain dynamics and strong coupling.…
Layered control architectures have been a standard paradigm for efficiently managing complex constrained systems. A typical architecture consists of: i) a higher layer, where a low-frequency planner controls a simple model of the system,…
In this paper, we present a control synthesis framework for a general class of nonlinear, control-affine systems under spatiotemporal and input constraints. First, we study the problem of fixed-time convergence in the presence of input…
This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…
We examine when differentially flat nonlinear control systems with more than two inputs can be rendered static feedback linearizable by a minimal number of prolongations of suitably chosen inputs after applying a static input…
The innovative concept of Electric Aircraft is a challenging topic involving different control objectives. For instance, it becomes possible to reduce the size and the weight of the generator by using the battery as an auxiliary generator…
While Approximate Dynamic Programming has successfully been used in many applications involving discrete states and inputs such as playing the games of Tetris or chess, it has not been used in many continuous state and input space…
This work provides a framework for nonlinear model-free control of systems with unknown input-output dynamics, but outputs that can be controlled by the inputs. This framework leads to real-time control of the system such that a feasible…
A two-phase model predictive controller (MPC) is proposed for underactuated surface vessel operation in confined environments. For general driving maneuvers (phase one) the ship's geometry is not considered explicitly while in more…
A safe controller for multicopter is proposed using control barrier function. Multicopter dynamics are reformulated to deal with mixed-relative-degree and non-strict-feedback-form dynamics, and a time-varying safe backstepping controller is…
We initiate a formal study on the use of low-dimensional latent representations of dynamical systems for verifiable control synthesis. Our main goal is to enable the application of verification techniques -- such as Lyapunov or barrier…
Unmanned Aerial Vehicles (UAVs) are now becoming increasingly accessible to amateur and com-mercial users alike. Several types of airspace structures are proposed in recent research, which include several structured free flight concepts. In…
Efficient real-time trajectory planning and control for fixed-wing unmanned aerial vehicles is challenging due to their non-holonomic nature, complex dynamics, and the additional uncertainties introduced by unknown aerodynamic effects. In…
This work addresses the problem of constrained motion control of the uncrewed surface vessels. The constraints are imposed on states/inputs of the vehicles due to the physical limitations, mission requirements, and safety considerations. We…
Quadcopters are versatile aerial robots gaining popularity in numerous critical applications. However, their operational effectiveness is constrained by limited battery life and restricted flight range. To address these challenges,…
This paper presents an intelligent controller for uncertain underactuated nonlinear systems. The adopted approach is based on sliding mode control and enhanced by an artificial neural network to cope with modeling inaccuracies and external…
This article deals with the design of saturated controls in the context of partial differential equations. It focuses on a Korteweg-de Vries equation, which is a nonlinear mathematical model of waves on shallow water surfaces. Two different…
Robustness is a basic property of any control system. In the context of linear output regulation, it was proved that embedding an internal model of the exogenous signals is necessary and sufficient to achieve tracking of the desired…
This paper introduces an adaptive-neuro geometric control for a centralized multi-quadrotor cooperative transportation system, which enhances both adaptivity and disturbance rejection. Our strategy is to coactively tune the model parameters…
We present a real-time-capable set-based framework for closed-loop predictive control of autonomous systems using tools from computational geometry, dynamic programming, and convex optimization. The control architecture relies on the…