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Controlled Lagrangian and matching techniques are developed for the stabilization of relative equilibria and equilibria of discrete mechanical systems with symmetry as well as broken symmetry. Interesting new phenomena arise in the…
Automated synthesis of correct-by-construction controllers for autonomous systems is crucial for their deployment in safety-critical scenarios. Such autonomous systems are naturally modeled as stochastic dynamical models. The general…
This paper presents a nonlinear integrated guidance and control (IGC) approach for flexible leader-follower formation flight of fixed-wing unmanned aerial vehicles (UAVs) while accounting for high-fidelity aerodynamics and thrust dynamics.…
Hybrid unmanned aircraft can significantly increase the potential of micro air vehicles, because they combine hovering capability with a wing for fast and efficient forward flight. However, these vehicles are very difficult to control,…
This paper presents a constraint-enforcing control framework for a class of discrete-time strict-feedback nonlinear systems. The objective is to guarantee closed-loop stability while ensuring forward invariance of a prescribed safe set…
We use Reinforcement Meta Learning to optimize an adaptive guidance system suitable for the approach phase of a gliding hypersonic vehicle. Adaptability is achieved by optimizing over a range of off-nominal flight conditions including…
Cooperative Adaptive Cruise Control (CACC) enables vehicle platooning through inter-vehicle communication, improving traffic efficiency and safety. Conventional CACC relies on feedback linearization, assuming exact vehicle parameters;…
The expectation of unmanned air vehicles (UAVs) pushes the operation environment to narrow spaces, where the systems may fly very close to an object and perform an interaction. This phase brings the variation in UAV dynamics: thrust and…
This paper considers a collaborative tracking control problem using a group of fixed-wing unmanned aerial vehicles (UAVs) with constant and non-identical speeds. The dynamics of fixed-wing UAVs are modelled by unicycle-type equations with…
Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…
This paper presents a framework for the design and analysis of an $\mathcal{L}_1$ adaptive controller with a switching reference system. The use of a switching reference system allows the desired behavior to be scheduled across the…
A unified solution to adaptive approximation-based control for nonlinear systems with accurate and inaccurate state measurement is synthesized in this study. Starting from the standard adaptive approximation-based controller with accurate…
Force control enables hands-on teaching and physical collaboration, with the potential to improve ergonomics and flexibility of automation. Established methods for the design of compliance, impedance control, and \rev{collision response}…
This paper presents a data-driven optimal control policy for a micro flapping wing unmanned aerial vehicle. First, a set of optimal trajectories are computed off-line based on a geometric formulation of dynamics that captures the nonlinear…
Variable impedance control in operation-space is a promising approach to learning contact-rich manipulation behaviors. One of the main challenges with this approach is producing a manipulation behavior that ensures the safety of the arm and…
Fixed-wing vertical take-off and landing (VTOL) aircraft pose a unique control challenge that stems from complex aerodynamic interactions between wings and rotors. Thus, accurate estimation of external forces is indispensable for achieving…
We propose a simple, practical and intuitive approach to improve the performance of a conventional controller in uncertain environments using deep reinforcement learning while maintaining safe operation. Our approach is motivated by the…
This paper presents the concept of a tethered variable inertial attitude control mechanism for a modular jumping-limbed robot designed for planetary exploration in low-gravity environments. The system, named SPLITTER, comprises two sub-10…
Most impedance control schemes in robotics implement a desired passive impedance, allowing for stable interaction between the controlled robot and the environment. However, there is little guidance on the selection of the desired impedance.…
This study presents a transformer-based approach for fault-tolerant control in fixed-wing Unmanned Aerial Vehicles (UAVs), designed to adapt in real time to dynamic changes caused by structural damage or actuator failures. Unlike…