Related papers: Almost Global Trajectory Tracking for Quadrotors U…
We construct a trajectory tracking controller for a quadrotor system by finding a coordinate change which transforms the quadrotor's vector field into that of a thrust propelled system. In a thrust propelled system, the goal is to stabilize…
This paper proposes a model predictive trajectory tracking approach for quadrotors subject to input constraints. Our proposed approach relies on a hierarchical control strategy with an outer-loop feedback generating the required thrust and…
The control of a quadrotor is typically split into two subsequent problems: finding desired accelerations to control its position, and controlling its attitude and the total thrust to track these accelerations and to track a yaw angle…
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…
We propose a tracking control law for the fully actuated rigid body system in the presence of any unknown constant disturbance by employing quaternions with the stable embedding technique and Lyapunov stability theory. The stable embedding…
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…
All practical systems often pose a problem of finite control capability, which can notably degrade the performance if not properly addressed. Since actuator input bounds are typically known, integrating actuator saturation considerations…
In this paper an adaptive sliding mode control approach for a quadrotor stabilization and trajectory tracking is presented. The closed loop control consists of three parts; the first part is quadrotor altitude and attitude stabilization,…
In this paper the stability of a closed-loop cascade control system in the trajectory tracking task is addressed. The considered plant consists of underlying second-order fully actuated perturbed dynamics and the first order system which…
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…
In this paper, we present a novel cascade control structure with formal guarantees of uniform almost global asymptotic stability for the state tracking error dynamics of a quadcopter. The proposed approach features a model predictive…
Motivated by the need for formal guarantees on the stability and safety of controllers for challenging robot control tasks, we present a control design procedure that explicitly seeks to maximize the size of an invariant "funnel" that leads…
We present a novel, high-performance attitude control law for multicopters, with a view to recovery from large disturbances. The controller is compared to three well-established alternatives from the literature. All controllers considered…
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…
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…
In this work, we introduce a novel gradient descent-based approach for optimizing control systems, leveraging a new representation of stable closed-loop dynamics as a function of two matrices i.e. the step size or direction matrix and value…
We present a new stability proof for cascaded geometric control used by aerial vehicles tracking time-varying position trajectories. Our approach uses sliding variables and a recently proposed quaternion-based sliding controller to…
The spacecraft attitude tracking problem is addressed with actuator faults and uncertainties among inertias, external disturbances, and, in particular, state estimates. A continuous sliding mode attitude controller is designed using…
Accurate control of a humanoid robot's global position (i.e., its three-dimensional position in the world) is critical to the reliable execution of high-risk tasks such as avoiding collision with pedestrians in a crowded environment. This…
In order to meet the requirements for autonomous systems in real world applications, reliable path following controllers have to be designed to execute planned paths despite the existence of disturbances and model errors. In this paper we…