Related papers: Self-Tuning PID Control via a Hybrid Actor-Critic-…

We propose a Proportional Integral Derivative (PID) controller-based coaching scheme to expedite reinforcement learning (RL).

Controlling the behaviors of large language models (LLM) is fundamental to their safety alignment and reliable deployment. However, existing steering methods are primarily driven by empirical insights and lack theoretical performance…

With quadrotor use seeing extensive growth in recent years, the autonomous control of these Unmanned Aerial Vehicles (UAVs) is an increasing relevant and intersting field. In this paper a linear state-space approach at designing a stable…

In this paper, we present a method to control a quadrotor with a neural network trained using reinforcement learning techniques. With reinforcement learning, a common network can be trained to directly map state to actuator command making…

In this work, the autonomous control of a quadrotor-manipulator unmanned aerial vehicle is treated using an extended dynamic model. Due to persistent aerodynamic disturbances and dynamic couplings, the control of a quadrotor-manipulator…

The great promises of neuromorphic sensing and processing for robotics have led researchers and engineers to investigate novel models for robust and reliable control of autonomous robots (navigation, obstacle detection and avoidance, etc.),…

The PID controller is an elegant and versatile controller for set point tracking in double integrator systems of which mechanical systems evolving on Euclidean space constitute a large class. But since mechanical systems are typically…

Growing demands in the semiconductor industry result in the need for enhanced performance of lithographic equipment. However, position tracking accuracy of high precision mechatronics is often limited by the presence of disturbance sources,…

In this paper, modification of the classical PID controller and development of open-loop control mechanisms to improve stability and robustness of a differential wheeled robot are discussed. To deploy the algorithm, a test platform has been…

It has recently been shown that all physical parameters of an Incremental Nonlinear Dynamic Inversion (INDI) controller can be estimated onboard a multirotor within half a second, which is fast enough to do the full identification during a…

This paper presents a new Proportional-Integral-Derivative-Accelerated (PIDA) control with a derivative filter to improve quadcopter flight stability in a noisy environment. The mathematical model is derived from having an accurate model…

In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…

Model Predictive Control (MPC) is a state-of-the-art (SOTA) control technique which requires solving hard constrained optimization problems iteratively. For uncertain dynamics, analytical model based robust MPC imposes additional…

Reliable spacecraft attitude control depends on accurate prediction of attitude dynamics, particularly when model-based strategies such as Model Predictive Control (MPC) are employed, where performance is limited by the quality of the…

This paper presents an automated, model-free, data-driven method for the safe tuning of PID cascade controller gains based on Bayesian optimization. The optimization objective is composed of data-driven performance metrics and modeled using…

Tiltrotors are an aircraft concept with the ability to rotate their rotors freely, achieving vertical take-off and fast forward flight. The combination of helicopter and fixed-wing flight into one aircraft provides versatility in mission…

Classical proportional--integral--derivative (PID) control is widely employed in industrial applications; however, achieving higher performance often motivates the adoption of model predictive control (MPC). Although gradient-based methods…

Utilizing a servo to tilt each rotor transforms quadrotors from underactuated to overactuated systems, allowing for independent control of both attitude and position, which provides advantages for aerial manipulation. However, this…

This paper proposes a technique for automatic gain tuning of a momentum based balancing controller for humanoid robots. The controller ensures the stabilization of the centroidal dynamics and the associated zero dynamics. Then, the…

Overactuated Tilt Rotor Unmanned Aerial Vehicles are renowned for exceptional wind resistance and a broad operational range, which poses complex control challenges due to non-affine dynamics. Traditional solutions employ multi-state…