Related papers: Geometric Tracking on $\mathcal{S}^{3}$ Based on S…
When intelligent spacecraft or space robots perform tasks in a complex environment, the controllable variables are usually not directly available and have to be inferred from high-dimensional observable variables, such as outputs of neural…
This work presents a solution to the adaptive tracking control of Euler Lagrange systems with guaranteed tracking and parameter estimation error convergence. Specifically a concurrent learning based update rule fused by the filtered version…
This paper presents a new adaptive sliding mode control (SMC) framework for quadrotors that achieves robust and agile flight under tight computational constraints. The proposed controller addresses key limitations of prior SMC formulations,…
We present a new Lyapunov-based switching attitude controller for energy-efficient real-time selection of the torque inputted to an uncrewed aerial vehicle (UAV) during flight. The proposed method, using quaternions to describe the attitude…
The study of mechanical systems on Lie algebroids permits an understanding of the dynamics described by a Lagrangian or Hamiltonian function for a wide range of mechanical systems in a unified framework. Systems defined in tangent bundles,…
This paper addresses the problem of designing a trajectory tracking control law for a quadrotor UAV, subsequent to complete failure of a single rotor. The control design problem considers the reduced state space which excludes the angular…
Many robotic systems allow independent control of position and orientation (pose), including omnidirectional aerial vehicles, underwater robots, and manipulator end-effectors. In many applications, these systems must follow a continuous…
In this work we study the benefits of using tracking and 3D poses for action recognition. To achieve this, we take the Lagrangian view on analysing actions over a trajectory of human motion rather than at a fixed point in space. Taking this…
The paper considers autonomous rendezvous maneuver and proximity operations of two spacecraft in presence of obstacles. A strategy that combines guidance and control algorithms is analyzed. The proposed closed-loop system is able to…
The method of controlled Lagrangians for discrete mechanical systems is extended to include potential shaping in order to achieve complete state-space asymptotic stabilization. New terms in the controlled shape equation that are necessary…
This Technical Note presents a simple control approach for global trajectory tracking and formation control of underactuated surface vessels equipped with only two propellers. The control approach exploits the inherent cascaded structure of…
It is well known that a rigid motion of the Euclidean plane can be written as the composition of at most three reflections. It is perhaps not so widely known that a similar result holds for Euclidean space in any number of dimensions. The…
This paper highlights the significance of the rotor dynamics in control design for small-scale aerobatic helicopters, and proposes two singularity free robust attitude tracking controllers based on the available states for feedback. 1. The…
Safe autonomous navigation in unknown environments is an important problem for mobile robots. This paper proposes techniques to learn the dynamics model of a mobile robot from trajectory data and synthesize a tracking controller with safety…
Consensus formation tracking of multiple autonomous underwater vehicles (AUVs) subject to nonlinear and uncertain dynamics is a challenging problem in robotics. To tackle this challenge, a distributed bioinspired sliding mode controller is…
Classical mathematical techniques such as discrete integration, gradient descent optimization, and state estimation (exemplified by the Runge-Kutta method, Gauss-Newton minimization, and extended Kalman filter or EKF, respectively), rely on…
Discrete and periodic contact switching is a key characteristic of steady-state legged locomotion. This paper introduces a framework for modeling and analyzing this contact-switching behavior through the framework of geometric mechanics on…
We demonstrate that, under orthographic projection and with a camera fixated on a point located on a rigid body, the rotation of that body can be analytically obtained by tracking only one other feature in the image. With some exceptions,…
Underwater robots play a crucial role in exploring aquatic environments. The ability to flexibly adjust their attitudes is essential for underwater robots to effectively accomplish tasks in confined space. However, the highly coupled six…
We propose a learning-based trajectory tracking controller for autonomous robotic platforms whose motion can be described kinematically on $\mathrm{SE}(3)$. The controller is formulated in the dual quaternion framework and operates at the…