Related papers: Lightweight Tracking Control for Computationally C…
We apply the Newton-Raphson flow tracking controller to aggressive quadrotor flight and demonstrate that it achieves good tracking performance over a suite of benchmark trajectories, beating the native trajectory tracking controller in the…
This paper concerns applications of a recently-developed output-tracking technique to trajectory control of autonomous vehicles. The technique is based on three principles: Newton-Raphson flow for solving algebraic equations,output…
This paper concerns an application of a recently-developed nonlinear tracking technique to trajectory control of autonomous vehicles at traffic intersections. The technique uses a flow version of the Newton-Raphson method for controlling a…
We present a high-bandwidth, lightweight, and nonlinear output tracking technique for soft actuators that combines parsimonious recursive layers for forward output predictions and online optimization using Newton-Raphson. This technique…
This paper presents a control technique for output tracking of reference signals in continuous-time dynamical systems. The technique is comprised of the following three elements: (i) output prediction which has to track the reference…
We tackle the problem of minimum-time flight for a quadrotor through a sequence of waypoints in the presence of obstacles while exploiting the full quadrotor dynamics. Early works relied on simplified dynamics or polynomial trajectory…
Accurate and agile trajectory tracking in sub-gram Micro Aerial Vehicles (MAVs) is challenging, as the small scale of the robot induces large model uncertainties, demanding robust feedback controllers, while the fast dynamics and…
Agile quadrotor flight in challenging environments has the potential to revolutionize shipping, transportation, and search and rescue applications. Nonlinear model predictive control (NMPC) has recently shown promising results for agile…
A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…
This paper presents a method for path-following for quadcopter trajectories in real time. Non-Linear Guidance Logic is used to find the intercepts of the subsequent destination. Trajectory tracking is implemented by formulating the…
A nonparametric adaptive controller is proposed for crane control where the payload tracks a desired trajectory with feedback from the payload position. The controller is based on a novel version of partial feedback linearization where the…
This work presents the first closed-loop control framework for cooperative payload transportation with non-stopping flying carriers. The proposed method includes a feedback wrench-controller that actively regulates the load's pose by…
Newton-Raphson controller is a powerful prediction-based variable gain integral controller. Basically, the classical model-based Newton-Raphson controller requires two elements: the prediction of the system output and the derivative of the…
Autonomous quadrotor flight in confined spaces such as pipes and tunnels presents significant challenges due to unsteady, self-induced aerodynamic disturbances. Very recent advances have enabled flight in such conditions, but they either…
Nonlinear Model Predictive Control (NMPC) is a powerful approach for controlling highly dynamic robotic systems, as it accounts for system dynamics and optimizes control inputs at each step. However, its high computational complexity makes…
Flying quadrotors in tight formations is a challenging problem. It is known that in the near-field airflow of a quadrotor, the aerodynamic effects induced by the propellers are complex and difficult to characterize. Although machine…
This paper presents a constraint-aware control framework for underactuated aerial manipulators, enabling accurate end-effector trajectory tracking while explicitly accounting for safety and feasibility constraints. The control problem is…
The paper presents a new, robust control algorithm for position trajectory tracking in a 3D space, dedicated to underactuated airships. In order to take into account real characteristics of such vehicles, and to reflect practically…
This paper deals with the tracking control problem for a very simple class of unknown nonlinear systems. In this paper, we presents a design strategy for tracking control of time-varying state constrained nonlinear systems in an adaptive…
Robotic airships offer significant advantages in terms of safety, mobility, and extended flight times. However, their highly restrictive weight constraints pose a major challenge regarding the available computational resources to perform…