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This paper presents the development of a comprehensive dynamics and stabilizing control architecture for Tethered Unmanned Aerial Vehicle (TUAV) systems. The proposed architecture integrates both onboard and ground-based controllers,…
Quadrotor unmanned aerial vehicles (UAVs) have been developed and applied into several types of workplaces, such as warehouses, which usually involve human workers. The co-existence of human and UAVs brings new challenges to UAVs: potential…
We study the problem of target stabilization with robust obstacle avoidance in robots and vehicles that have access only to vision-based sensors for the purpose of realtime localization. This problem is particularly challenging due to the…
Model-based control requires an accurate model of the system dynamics for precisely and safely controlling the robot in complex and dynamic environments. Moreover, in the presence of variations in the operating conditions, the model should…
With large language models demonstrating significant potential in code generation tasks, their application to onboard control of resource-constrained Unmanned Aerial Vehicles has emerged as an important research direction. However, a…
This work introduces a data-driven control approach for stabilizing high-dimensional dynamical systems from scarce data. The proposed context-aware controller inference approach is based on the observation that controllers need to act…
Satellite dynamics in unknown environments are inherently uncertain due to factors such as varying gravitational fields, atmospheric drag, and unpredictable interactions with space debris or other celestial bodies. Traditional sliding mode…
Minimum Snap Trajectory Generation and Control for an Under-actuated Flapping Wing Aerial VehicleThis paper presents both the trajectory generation and tracking control strategies for an underactuated flapping wing aerial vehicle (FWAV).…
This paper presents a new data-driven fault identification and controller reconfiguration algorithm. The presented algorithm relies only on the system's input and output data, and it does not require a detailed system description. The…
This letter proposes a convolutional neural network (CNN)-based adaptive controller wtih three notable features: 1) it determines control input directly from historical sensor data (in an end-to-end process); 2) it learns the desired…
This paper establishes new sufficient conditions for Mittag-Leffler stability of Caputo fractional-order nonlinear systems with state-dependent delays. The central analytical tool is a class of Lyapunov-Krasovskii functionals that…
Autopilot systems are typically composed of an "inner loop" providing stability and control, while an "outer loop" is responsible for mission-level objectives, e.g. way-point navigation. Autopilot systems for UAVs are predominately…
Efficient real-time trajectory planning and control for fixed-wing unmanned aerial vehicles is challenging due to their non-holonomic nature, complex dynamics, and the additional uncertainties introduced by unknown aerodynamic effects. In…
This paper investigates an adaptive sliding-mode control for an integrated UAV autopilot and guidance system. First, a two-dimensional mathematical model of the system is derived by considering the incorporated lateral dynamics and relative…
With ongoing development of autonomous driving systems and increasing desire for deployment, researchers continue to seek reliable approaches for ADS systems. The virtual simulation test (VST) has become a prominent approach for testing…
Federated learning (FL), invented by Google in 2016, has become a hot research trend. However, enabling FL in wireless networks has to overcome the limited battery challenge of mobile users. In this regard, we propose to apply unmanned…
Nowadays, liquid rocket engines use closed-loop control at most near steady operating conditions. The control of the transient phases is traditionally performed in open-loop due to highly nonlinear system dynamics. This situation is…
As learning-based robotic controllers are typically trained offline and deployed with fixed parameters, their ability to cope with unforeseen changes during operation is limited. Biologically inspired, this work presents a framework for…
The attitude control of a spacecraft is integral to achieving mission success. However, failures in actuators such as reaction wheels are detrimental and can often lead to an early end of mission. We propose a Lyapunov-based adaptive…
This paper studies the data-driven control of unknown linear-threshold network dynamics to stabilize the state to a reference value. We consider two types of controllers: (i) a state feedback controller with feed-forward reference input and…