Related papers: Redundant Observer-Based Tracking Control for Obje…
Abrupt cable severance in multi-UAV slung-load transport redistributes load and changes the active constraint set, leaving limited time for fault diagnosis and reconfiguration. Existing controllers rely on coordinated force allocation,…
This work focuses on the study of tethered fights of a micro quadcopter, with the aim of supplying continuous power to a small-sized aerial robot. Multiple features for facilitating the interaction between a tethered micro quadcopter and a…
This work addresses the problem of robust attitude control of quadcopters. First, the mathematical model of the quadcopter is derived considering factors such as nonlinearity, external disturbances, uncertain dynamics and strong coupling.…
In this paper, a novel control strategy namely disturbance observer-based control is first applied to stabilization and disturbance rejection for an anti-stable stochastic heat equation with Neumann boundary actuation and unknown boundary…
This article concerns the development of the Vector Field Orientation - Active Disturbance Rejection (VFO-ADR) cascaded path-following controller for underactuated vehicles moving in a 3-dimensional space. The proposed concept of a cascaded…
This paper applies the UAV to the inspection of water diversion pipelines in hydropower stations. The diversion pipeline is an enclosed space, so the airflow disturbance caused by the rotation of the UAV blades and the strong air convection…
This paper investigates the problem of consensus-based distributed control of linear time-invariant multi-channel systems subject to unknown inputs. A distributed observer-based control framework is proposed, within which observer nodes and…
This work deals with the problem of designing disturbance decupled observers for the estimation of a function of the states in nonlinear systems. Necessary and sufficient conditions for the existence of lower order disturbance decoupled…
This paper is concerned with fault/disturbance compensation control for fully actuated systems. In particular, we explore observer-based control, incorporating an active compensation mechanism. First, we propose a novel observer with…
In this paper, first the full dynamics of aerial transportation of a rigid body with arbitrary number of quadrotors is derived. Then a control strategy is proposed to convey the nonuniform rigid body appropriately to the desired trajectory.…
Dynamic components of the friction may directly impact the stability and performance of the motion control systems. The LuGre model is a prevalent friction model utilized to express this dynamic behavior. Since the LuGre model is very…
Visual tracking can be easily disturbed by similar surrounding objects. Such objects as hard distractors, even though being the minority among negative samples, increase the risk of target drift and model corruption, which deserve…
This work introduces a single-range-aided navigation observer that reconstructs the full state of a rigid body using only an Inertial Measurement Unit (IMU), a body-frame vector measurement (e.g., magnetometer), and a distance measurement…
A high-gain extended observer is designed for a class of nonlinear uncertain systems. This observer has the ability of estimating system uncertainty, and it can be used to estimate the derivatives of signal up to order n. The controller…
Intelligent transportation systems (ITS) aim to advance innovative strategies relating to different modes of transport, traffic management, and autonomous vehicles. This paper studies the platoon of connected and autonomous vehicles (CAV)…
This paper presents a novel Luenberger-style observer for robot manipulators with position measurements. Under the assumption that the state evolutions that are to be observed have bounded velocities, it is shown that the origin of the…
This paper derives for non-linear, time-varying and feedback linearizable systems simple controller designs to achieve specified state-and timedependent complex convergence rates. This approach can be regarded as a general gain-scheduling…
This paper discusses stability and robustness properties of a recently proposed observer algorithm for linear time varying systems. The observer is based on the approximation and subsequent modification of the non-negative Lyapunov…
There is a great demand for vision-based robotics solutions that can operate using Global Positioning Systems (GPS), but are also robust against GPS signal loss and gyroscope failure. This paper investigates the estimation and tracking…
Disturbance observer is an inner-loop output-feedback controller whose role is to reject external disturbances and to make the outer-loop baseline controller robust against plant's uncertainties. Therefore, the closed-loop system with the…