Related papers: Robust trajectory tracking for underactuated mecha…
This paper addresses the trajectory-tracking problem for a class of electromechanical systems. To this end, the dynamics of the plants are modeled in the so-called port-Hamiltonian framework. Then, the notion of contraction is exploited to…
In this paper we address the problem of tracking control of nonlinear systems via contraction analysis. The necessary conditions of the systems which can achieve universal asymptotic tracking are studied under several different cases. We…
Most passivity based trajectory tracking algorithms for mechanical systems can only stabilise reference trajectories that have constant energy. This paper overcomes this limitation by deriving a single variable Hamiltonian model for the…
In this paper, we consider the tracking control problem for robot manipulators which are affected by constant bounded disturbances. Three control schemes are applied for the problem, which composed of integral action and tracking…
This paper proposes a new Active Disturbance Rejection based robust trajectory tracking controller design method in state space. It can compensate not only matched but also mismatched disturbances. Robust state and control input references…
The paper presents a new, robust control algorithm for position trajectory tracking in a 3D space, dedicated to underactuated airships. In order to take into account real characteristics of such vehicles, and to reflect practically…
This work presents a new sufficient condition for synthesizing nonlinear controllers that yield bounded closed-loop tracking error transients despite the presence of unmatched uncertainties that are concurrently being learned online. The…
In this work, we propose a passivity-based control approach that addresses the trajectory tracking problem for a class of mechanical systems that comprises a broad range of robotic arms. The resulting controllers can be naturally saturated…
We propose a robust nonlinear model predictive control (MPC) scheme for trajectory-tracking control of autonomous vehicles at the limits of handling on non-planar road surfaces. We derive the dynamics from first principles and selectively…
This paper presents an approach towards guaranteed trajectory tracking for nonlinear control-affine systems subject to external disturbances based on robust control contraction metrics (CCM) that aims to minimize the $\mathcal L_\infty$…
The stabilization of unstable nonlinear systems and tracking control are challenging engineering problems due to the encompassed nonlinearities in dynamic systems and their scale. In the past decades, numerous observer-based control designs…
This paper addresses the problems of stabilization, robust control, and observer design for nonlinear systems. We build upon recently a proposed method based on contraction theory and convex optimization, extending the class of systems to…
This paper presents a robust tracking controller for tracking curvature-constrained paths by vehicles/robots with uncertain Dubins dynamics. Although Dubins paths have been widely used in vehicular and robotic applications, robust and…
This work presents a methodology to design trajectory tracking feedback control laws, which embed non-parametric statistical models, such as Gaussian Processes (GPs). The aim is to minimize unmodeled dynamics such as undesired slippages.…
In this paper we consider trajectory tracking problem for robotic systems affected by unknown external perturbations. Considering possible solutions, we restrict our attention to composite adaptation, which, particularly, ensures parametric…
In this paper the stability of a closed-loop cascade control system in the trajectory tracking task is addressed. The considered plant consists of underlying second-order fully actuated perturbed dynamics and the first order system which…
This paper presents a control technique for output tracking of reference signals in continuous-time dynamical systems. The technique is comprised of the following three elements: (i) output prediction which has to track the reference…
This paper presents a novel robust predictive controller for constrained nonlinear systems that is able to track piece-wise constant setpoint signals. The tracking model predictive controller presented in this paper extends the nonlinear…
The objective of this note is to share some reflections of the authors regarding the use of sliding mode designs in control systems. We believe the abundant, and ever increasing, appearance of this kind of works on our scientific…
Existing works on control of tractor-trailers systems only consider the kinematics model without taking dynamics into account. Also, most of them treat the issue as a pure control theory problem whose solutions are difficult to implement.…