Related papers: SBlimp: Design, Model, and Translational Motion Co…
We consider the hovering control problem for a class of multi-rotor aerial platforms with generically oriented propellers. Given the intrinsically coupled translational and rotational dynamics of such vehicles, we first discuss some…
Tilt rotor aircraft combine the benefits of both helicopters and fixed wing aircraft, this makes them popular for a variety of applications, including Search and Rescue and VVIP transport. However, due to the multiple flight modes,…
A widely used mathematical model for the bouncing motion of an ideally elastic ball -- referred to in previous work by the first two authors and collaborators as a {\em no-slip billiard} system -- exhibits some notable dynamical behavior…
In this paper, we introduce a multi robot payload transport system to carry payloads through an environment of unknown and uneven inclinations while maintaining the desired orientation of the payload. For this task, we used custom built…
This paper presents an adaptive modified Robust Inverse of Signum Error (AM-RISE) control method, which achieves reliable trajectory tracking control for a quadrotor unmanned aerial vehicle. The proposed method systematically accounts for…
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…
The precise motion control of a multi-degree of freedom~(DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most manipulators are controlled by digital signals, a novel…
Robotic blimps, as lighter-than-air (LTA) aerial systems, offer long endurance and inherently safe operation but remain highly susceptible to wind disturbances. Building on recent advances in moving mass actuation, this paper addresses the…
This letter considers model predictive control of a tandem-rotor helicopter. The error is formulated using the matrix Lie group $SE_2(3)$. A reference trajectory to a target is calculated using a quartic guidance law, leveraging the…
In this paper, we present a novel rolling, jumping robot. The robot consists of a driven pendulum mounted to a wheel in a compact, lightweight, 3D printed design. We show that by driving the pendulum to shift the robot's weight…
Achieving precise and efficient trajectory tracking in robotic arms remains a key challenge due to system uncertainties and chattering effects in conventional sliding mode control (SMC). This paper presents a chattering-free fast terminal…
Simplified models of the dynamics such as the linear inverted pendulum model (LIPM) have proven to perform well for biped walking on flat ground. However, for more complex tasks the assumptions of these models can become limiting. For…
Bio-inspired vehicles are currently leading the way in the quest to produce a vehicle capable of flight and underwater navigation. However, a fully functional vehicle has not yet been realized. We present the first fully functional vehicle…
Achieving stable and robust perceptive locomotion for bipedal robots in unstructured outdoor environments remains a critical challenge due to complex terrain geometry and susceptibility to external disturbances. In this work, we propose a…
Dynamic control of a soft-body robot to deliver complex behaviors with low-dimensional actuation inputs is challenging. In this paper, we present a computational approach to automatically generate versatile, underactuated control policies…
This paper presents a model-free adaptive control approach to suppress vibrations in a cantilevered beam excited by an unknown disturbance. The cantilevered beam under harmonic excitation is modeled using a lumped parameter approach. Based…
Robust adaptive model predictive control (RAMPC) is a novel control method that combines robustness guarantees with respect to unknown parameters and bounded disturbances into a model predictive control scheme. However, RAMPC has so far…
Drifting is an advanced driving technique where the wheeled robot's tire-ground interaction breaks the common non-holonomic pure rolling constraint. This allows high-maneuverability tasks like quick cornering, and steady-state drifting…
This work proposes a control law for a manipulator with the aim of realizing desired time-varying motion-force profiles in the presence of a stiff environment. In many cases, the interaction with the environment affects only one degree of…
We present a new stability proof for cascaded geometric control used by aerial vehicles tracking time-varying position trajectories. Our approach uses sliding variables and a recently proposed quaternion-based sliding controller to…