Related papers: A flatness-based saturated controller design for a…
Neural networks have become increasingly popular in controller design due to their versatility and efficiency. However, their integration into feedback systems can pose stability challenges, particularly in the presence of uncertainties.…
Koopman operator-based methods enable data-driven bilinear representations of unknown nonlinear control systems. Accurate representations often demand significantly higher dimensions than the original system, making control design…
In this paper, we introduce a decentralized optimization-based density controller designed to enforce set invariance constraints in multi-robot systems. By designing a decentralized control barrier function, we derived sufficient conditions…
The paper develops a singularity-free backstepping-based adaptive control for stabilizing and tracking the trajectory of a bicopter system. In the bicopter system, the inertial parameters parameterize the input map. Since the classical…
In this study we focused on the linear Kawahara equation in a bounded domain, employing two boundary controls. The controllability of this system has been previously demonstrated over the past decade using the Hilbert uniqueness method…
We study adaptive fault tolerant tracking control for uncertain linear systems. Based on recent results in funnel control and the time-varying Byrnes-Isidori form, we develop a low-complexity model-free controller which achieves prescribed…
This paper presents a constraint-enforcing control framework for a class of discrete-time strict-feedback nonlinear systems. The objective is to guarantee closed-loop stability while ensuring forward invariance of a prescribed safe set…
For discrete-time systems, flatness is usually defined by replacing the time-derivatives of the well-known continuous-time definition by forward-shifts. With this definition, the class of flat systems corresponds exactly to the class of…
This paper investigates the dynamic properties of planar slider-pusher systems as a motion primitive in manipulation tasks. To that end, we construct a differential kinematic model deriving from the limit surface approach under the…
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…
This paper presents the design of Variable-Pitch-Propeller mechanism and its application on a quadcopter called Heliquad to demonstrate its unique capabilities. The input-output relationship is estimated for a generic mechanism. Various…
This work addresses the modelling and control aspects for quadcopter or drone unmanned aerial vehicles (UAVs). First, the mathematical model of the drone is derived by identifying significant parameters and the negligible ones are treated…
This paper presents a linear-programming based algorithm to perform data-driven stabilizing control of linear positive systems. A set of state-input-transition observations is collected up to magnitude-bounded noise. A state feedback…
In this paper, a novel online, output-feedback, critic-only, model-based reinforcement learning framework is developed for safety-critical control systems operating in complex environments. The developed framework ensures system stability…
We present a novel class of nonlinear controllers that interpolates among differently behaving linear controllers as a case study for recently proposed Linear and Nonlinear System Level Synthesis framework. The structure of the nonlinear…
This work addresses the control and navigation of a simulated two-dimensional electric rocket. The model provides a simplified framework that neglects actuator dynamics and aerodynamic effects while capturing the complexities of…
This paper is concerned with the output feedback stabilization of a reaction-diffusion equation by means of bounded control inputs in the presence of saturations. Using a finite-dimensional controller composed of an observer coupled with a…
Traditional learning approaches proposed for controlling quadrotors or helicopters have focused on improving performance for specific trajectories by iteratively improving upon a nominal controller, for example learning from demonstrations,…
In this paper, we present a novel developmental reinforcement learning-based controller for a quadcopter with thrust vectoring capabilities. This multirotor UAV design has tilt-enabled rotors. It utilizes the rotor force magnitude and…
Given the cost and critical functions of satellite constellations, ensuring mission longevity and safe decommissioning is essential for space sustainability. This article presents a Model Predictive Control for spacecraft trajectory and…