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In this paper, we derive differential conditions guaranteeing the orbital stability of nonlinear hybrid limit cycles. These conditions are represented as a series of pointwise linear matrix inequalities (LMI), enabling the search for…
Four Wheeled Mecanum Robot (FWMR) possess the capability to move in any direction on a plane making it a cornerstone system in modern industrial operations. Despite the extreme maneuverability offered by FWMR, the practical implementation…
Multi-contact motion is important for humanoid robots to work in various environments. We propose a centroidal online trajectory generation and stabilization control for humanoid dynamic multi-contact motion. The proposed method features…
In this paper, we propose a novel approximation strategy for time-dependent hyperbolic systems of conservation laws for the Euler system of gas dynamics that aims to represent the dynamics of strong interacting discontinuities. The goal of…
The study of our Solar System -- its formation, evolution, and long-term stability -- has been ongoing for centuries and is now a standard part of scientific education. While the formation of other Solar-like exoplanetary systems is…
This paper proposes a hybrid-gain finite-time sliding-mode control (HG-FTSMC) strategy for a class of perturbed nonlinear systems. The controller combines a finite-time reaching law that drives the sliding variable to a predefined boundary…
High-speed online trajectory planning for UAVs poses a significant challenge due to the need for precise modeling of complex dynamics while also being constrained by computational limitations. This paper presents a multi-fidelity…
In this paper, we define a general class of abstract aerial robotic systems named Laterally Bounded Force (LBF) vehicles, in which most of the control authority is expressed along a principal thrust direction, while in the lateral…
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…
Recently, several approaches have attempted to combine motion generation and control in one loop to equip robots with reactive behaviors, that cannot be achieved with traditional time-indexed tracking controllers. These approaches however…
Driven by the desire to find positions that satisfy keepout constraints for a space-based telescope mission, this work develops a process for tracing a point in space in the regime of the restricted three-body problem to a halo orbit,…
The leader-follower formation control analysis for multiple quad-rotor systems is investigated in this paper. To achieve predefined formation in the three-dimensional air space ($x,y$ and $z$), a novel local tracking control law and a…
This paper presents an algorithm for computing inner estimates of the regions of attraction of limit cycles of a nonlinear hybrid system. The basic procedure is: (1) compute the dynamics of the system transverse to the limit cycle; (2) from…
This paper develops a control strategy for pursuit-evasion problems in environments with occlusions. We address the challenge of a mobile pursuer keeping a mobile evader within its field of view (FoV) despite line-of-sight obstructions. The…
The paper addresses the problem of controller synthesis for control-affine nonlinear systems to meet reach-avoid-stay specifications. Specifically, the goal of the research is to obtain a closed-form control law ensuring that the…
For a right-invariant and controllable driftless system on SU(n), we consider a time-periodic reference trajectory along which the linearized control system generates su(n): such trajectories always exist and constitute the basic ingredient…
Approximate dynamic programming has been investigated and used as a method to approximately solve optimal regulation problems. However, the extension of this technique to optimal tracking problems for continuous time nonlinear systems has…
This paper tackles the problem of nonlinear systems, with sublinear growth but unbounded control, under perturbation of some time-varying state constraints. It is shown that, given a trajectory to be approximated, one can find a neighboring…
This work focuses on the identification of reliable and repeatable spatial (three-dimensional) trajectories that link the Earth and the Moon. For this purpose, this paper aims to extend the 2:1 resonant prograde family and 2:1 resonant…
This paper proposes a novel constructive barrier feedback for reactive collision avoidance between two agents. It incorporates this feature in a formation tracking control strategy for a group of 2nd-order dynamic robots defined in…