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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 paper presents four types of tracking control systems for the attitude dynamics of a rigid body. First, a smooth control system is constructed to track a given desired attitude trajectory, while guaranteeing almost semi-global…
This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…
This paper proposes a novel unit-quaternion observer-based controller for attitude tracking (attitude and angular velocity) with guaranteed transient and steady-state performance. The proposed approach is computationally cheap and can…
This paper studies an attitude control system design based on modified Rodrigues parameters feedback. It employs a linear continuous sliding mode controller. The sliding mode controller is able to bring the existence of the sliding motion…
This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transformation, we convert diverse vehicle…
This paper presents a new Lyapunov-based nonlinear model predictive controller (LNMPC) for the attitude control problem of unmanned aerial vehicles (UAVs), which is essential for their functioning operation. The controller is designed based…
In this work, we address the design of tracking controllers that drive a mechanical system's state asymptotically towards a reference trajectory. Motivated by aerospace and robotics applications, we consider fully-actuated systems evolving…
This paper proposes a time-efficient attitude-tracking controller considering the slew rate constraint and control constraint. The algorithm defines the sliding surface, which is the linear combination of command, body, and regulating…
This paper presents global tracking strategies for the attitude dynamics of a rigid body. It is well known that global attractivity is prohibited for continuous attitude control systems on the special orthogonal group. Such topological…
The rigid-body attitude tracking using vector and biased gyro measurements with unknown inertia matrix is studied in this note. First, a gyro-bias observer with global exponential stability is designed. Then, an attitude tracking controller…
This paper addresses the attitude tracking of a rigid body using a quaternion description. Global finite-time attitude controllers are designed with three types of measurements, namely, full states, attitude plus constant-biased angular…
Inspired by flight characteristics captured from live Monarch butterflies, an optimal control problem is presented while accounting the effects of low-frequency flapping and abdomen undulation. A flapping-wing aerial vehicle is modeled as…
This paper deals with the stabilization of a class of linear infinite-dimensional systems with unbounded control operators and subject to a boundary disturbance. We assume that there exists a linear feedback law that makes the origin of the…
The purpose of this paper is to illustrate, in an experimental facility consisting of a simple pendular device, the performance of a sliding mode adaptive position-feedback tracking controller of mechanical systems with friction reported in…
This paper presents a new geometric adaptive control system with state inequality constraints for the attitude dynamics of a rigid body. The control system is designed such that the desired attitude is asymptotically stabilized, while the…
We introduce a new class of attitude control laws for rotational systems; the proposed framework generalizes the use of the Euler \mbox{axis--angle} representation beyond quaternion-based formulations. Using basic Lyapunov stability theory…
We consider the problem of attitude tracking for small-scale aerobatic helicopters. A small scale helicopter has two subsystems: the fuselage, modeled as a rigid body; and the rotor, modeled as a first order system. Due to the coupling…
Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based…
The design of an invariant tracking control law for the kinematic car driving on a sphere is discussed. Using a Lie group framework a left-invariant description on SO(3) is derived. Basic geometric considerations allow a direct comparison…