Related papers: Active Sidestick Control Integration for Enhanced …
Integrated sensing, communication, and control (ISCC) has emerged as a key enabler for low-altitude wireless networks with enhanced adaptability through resource allocation co-design and intelligent environment awareness. However, dynamic…
Nonlinear control allocation is an important part of modern nonlinear dynamic inversion based flight control systems which require highly accurate model of aircraft aerodynamics. Generally, an accurately implemented onboard model determines…
The problem of coverage control, i.e., of coordinating multiple agents to optimally cover an area, arises in various applications. However, coverage applications face two major challenges: (1) dealing with nonlinear dynamics while…
Integrated sensing and communication (ISAC) enables simultaneous localization, environment perception, and data exchange for connected autonomous vehicles. However, most existing ISAC designs prioritize sensing accuracy and communication…
This work addresses the modelling and control aspects for quadcopter or drone unmanned aerial vehicles (UAVs). First, the mathematical model of the drone is derived by identifying significant parameters and the negligible ones are treated…
The Intelligent Driver Model (IDM) is a cornerstone of Adaptive Cruise Control (ACC), valued for its interpretable parameters and effectiveness in car-following behavior modeling. However, its inherent conservatism leads to prolonged…
In this paper, we consider controlling a class of single-input-single-output (SISO) commensurate fractional-order nonlinear systems with parametric uncertainty and external disturbance. Based on backstepping approach, an adaptive controller…
Individual Pitch Control (IPC) is an effective control strategy to mitigate the blade loads on large-scale wind turbines. Since IPC usually requires high pitch actuation, the safety constraints of the pitch actuator should be taken into…
This paper studies the security aspect of a recently introduced network ("cell-free massive MIMO") under a pilot spoofing attack. Firstly, a simple method to recognize the presence of this type of an active eavesdropping attack to a…
Autopilots for fixed-wing aircraft are typically designed based on linearized aerodynamic models consisting of stability and control derivatives obtained from wind-tunnel testing. The resulting local controllers are then pieced together…
Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any…
Each new concept of operation and equipment generation in aviation becomes more automated, integrated and interconnected. In the case of Unmanned Aircraft Systems (UAS), this evolution allows drastically decreasing aircraft weight and…
This study presents a framework to guarantee safety for a class of second-order nonlinear systems under multiple state and input constraints. To facilitate real-world applications, a safety-critical controller must consider multiple…
This paper presents an agile Unmanned Aerial Vehicle (UAV) landing control by considering the effect of ship's oscillations and moving, and also disturbance (i.e., crosswind) is considered. The presented control system can make the…
Following the novel introduced concept of the active carriers, this paper brings forward a technique toward the manipulability of an internally piezo-equipped active spherical carrier subjected to the progressive acoustic plane waves as the…
Unmanned Surface Vessels (USVs) face significant control challenges due to uncertain environmental disturbances like waves and currents. This paper proposes a trajectory tracking controller based on Active Disturbance Rejection Control…
A safe controller for multicopter is proposed using control barrier function. Multicopter dynamics are reformulated to deal with mixed-relative-degree and non-strict-feedback-form dynamics, and a time-varying safe backstepping controller is…
Cooperative adaptive cruise control(CACC) system provides a great promise to significantly reduce traffic congestion while maintaining a high level of safety. Recent years have seen an increase of using formal methods in the analysis and…
Multi-objective safety-critical control entails a diligent design to avoid possibly conflicting scenarios and ensure safety. This paper addresses multi-objective safety-critical control through a novel approach utilizing barrier states…
Learning-based controllers have achieved impressive performance in agile quadrotor flight but typically rely on massive training in simulation, necessitating accurate system identification for effective Sim2Real transfer. However, even with…