Related papers: Input-Output Extension of Underactuated Nonlinear …
Collocated adaptive control of underactuated systems is still a main concern for the control community, all the more so because the collocated dynamics is no longer linear with respect to the constant base parameters. This work extends and…
This paper proposes a unidirectionally connected fully actuated system (UC-FAS) approach for the sub-stabilization and tracking control of 6-DOF quadrotors, tackling limitations both in state-space and FAS framework to some extent. The…
Robust global stabilization of nonlinear systems by observer-based feedback controllers is a challenging task. This article investigates the problem of designing observer-based stabilizing controllers for incrementally quadratic nonlinear…
The main purpose of a control allocator is to distribute a total control effort among redundant actuators. This paper proposes a discrete adaptive control allocator for over-actuated sampled-data systems in the presence of actuator…
In this paper, we model the planar motion of a quadcopter, and develop a linear model of the same. We perform stability analysis of the open loop system and develop a PD controller for its position control. We compare the closed loop…
This paper presents contributions on nonlinear tracking control systems for a quadrotor unmanned micro aerial vehicle. New controllers are proposed based on nonlinear surfaces composed by tracking errors that evolve directly on the…
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…
This note addresses the output synchronization problem of incrementally output-feedback passive nonlinear systems in the presence of exogenous disturbances. Two kinds of distributed controllers are proposed; one placed at the nodes and the…
This paper provides nonlinear tracking control systems for a quadrotor unmanned aerial vehicle (UAV) that are robust to bounded uncertainties. A mathematical model of a quadrotor UAV is defined on the special Euclidean group, and nonlinear…
This paper extends our previous study on an explicit saturated control for a quadcopter, which ensures both constraint satisfaction and stability thanks to the linear representation of the system in the flat output space. The novelty here…
The mechanical simplicity, hover capabilities, and high agility of quadrotors lead to a fast adaption in the industry for inspection, exploration, and urban aerial mobility. On the other hand, the unstable and underactuated dynamics of…
In this paper, a new control scheme, called as additive-decomposition-based tracking control, is proposed to solve the output feedback tracking problem for a class of systems with measurable nonlinearities and unknown disturbances. By the…
We present a novel class of nonlinear controllers that interpolates among differently behaving linear controllers as a case study for recently proposed Linear and Nonlinear System Level Synthesis framework. The structure of the nonlinear…
This is the first part of four series papers, aiming at the problem of actuator dynamics compensation for linear systems. We consider the stabilization of a type of cascade abstract linear systems which model the actuator dynamics…
We will show that there is a universal connection between the achievable closed-loop dynamics and the corresponding feedback controller that produces it. This connection shows promise to lead to new methods for robust nonlinear control in…
Sliding tasks performed by aerial robots are valuable for inspection and simple maintenance tasks at height, such as non-destructive testing and painting. Although various end-effector designs have been used for such tasks, non-actuated…
We present an improvement of a recent funnel controller design for uncertain nonlinear multi-input, multi-output systems modeled by higher order functional differential equations in the presence of input constraints. The objective is to…
There is invariably a trade-off between safety and efficiency for collaborative robots (cobots) in human-robot collaborations. Robots that interact minimally with humans can work with high speed and accuracy but cannot adapt to new tasks or…
This paper presents a robust cascaded control architecture for over-actuated multirotors. It extends the Incremental Nonlinear Dynamic Inversion (INDI) control combined with structured H_inf control, initially proposed for under-actuated…
In this paper, a new under-actuated Bi-Quadcopter Unmanned Aerial Vehicle is introduced. The proposed drone configuration can be controlled similar to a Bicopter. The dynamics of the proposed Bi-Quadcopter is developed using the…