Related papers: Achieving Precisely-Assigned Performance Requireme…
This paper introduces a landing guidance strategy for reusable launch vehicles (RLVs) using a model predictive approach based on sequential convex programming (SCP). The proposed approach devises two distinct optimal control problems…
Optimal control problems are formulated and efficient computational procedures are proposed for attitude dynamics of a rigid body with symmetry. The rigid body is assumed to act under a gravitational potential and under a structured control…
In this paper, we tackle the state transformation problem in non-strict full state-constrained systems by introducing an adaptive fixed-time control method, utilizing a one-to-one asymmetric nonlinear mapping auxiliary system. Additionally,…
This paper presents a control law for stabilization and trajectory tracking of a multicopter subject to safety constraints. The proposed approach guarantees forward invariance of a prescribed safety set while ensuring smooth tracking…
In this paper, we present a control design methodology, stability criteria, and performance bounds for autonomous helicopter aerial refueling. Autonomous aerial refueling is particularly difficult due to the aerodynamic interaction between…
This paper explores continuous-time and state-space optimal stopping problems from a reinforcement learning perspective. We begin by formulating the stopping problem using randomized stopping times, where the decision maker's control is…
The construction of feedback-like control fields for a kinetic model in phase space is investigated. The purpose of these controls is to drive an initial density of particles in the phase space to reach a desired cyclic trajectory and…
Air-bearing platforms for simulating the rotational dynamics of satellites require highly precise ground truth systems. Unfortunately, commercial motion capture systems used for this scope are complex and expensive. This paper shows a novel…
This paper addresses learning safe output feedback control laws from partial observations of expert demonstrations. We assume that a model of the system dynamics and a state estimator are available along with corresponding error bounds,…
This paper presents a novel Lagrangian approach to attitude tracking for rigid spacecraft using unit quaternions, where the motion equations of a spacecraft are described by a four degrees of freedom Lagrangian dynamics subject to a…
We propose an output feedback control-based motion planning technique for agents to enable them to converge to a specified polynomial trajectory while imposing a set of safety constraints on our controller to avoid collisions within the…
The positive impacts of platooning on travel time reliability, congestion, emissions, and energy consumption have been shown for homogeneous roadway segments. However, speed limit changes frequently throughout the transportation network,…
In this paper, a fixed-time safe control problem is investigated for an uncertain high-order nonlinear pure-feedback system with state constraints. A new nonlinear transformation function is firstly proposed to handle both the constrained…
When autonomous vehicles are deployed on public roads, they will encounter countless and diverse driving situations. Many manually designed driving policies are difficult to scale to the real world. Fortunately, reinforcement learning has…
This article presents an in-depth review of the topic of path following for autonomous robotic vehicles, with a specific focus on vehicle motion in two dimensional space (2D). From a control system standpoint, path following can be…
Autonomous aerial vehicles necessitate control strategies that balance computational efficiency with robust performance in dynamic operational environments. This paper proposes a model predictive control (MPC) framework for aerial platforms…
Making informed driving decisions requires reliable prediction of other vehicles' trajectories. In this paper, we present a novel learned multi-modal trajectory prediction architecture for automated driving. It achieves kinematically…
Robust output tracking is addressed in this paper for a heat equation with Neumann boundary conditions and anti-collocated boundary input and output. The desired reference tracking is solved using the well-known flatness and Lyapunov…
This paper presents a novel control protocol for robust distance-based formation control with prescribed performance in which agents are subjected to unknown external disturbances. Connectivity maintenance and collision avoidance among…
A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…