Related papers: Robust Near-Optimal Nonlinear Target Enclosing Gui…
This paper presents a novel robust trajectory optimization method for constrained nonlinear dynamical systems subject to unknown bounded disturbances. In particular, we seek optimal control policies that remain robustly feasible with…
This paper investigates the lateral control problem in vehicular path-following when the feedback sensor(s) are mounted at an arbitrary location in the longitudinal symmetric axis. We point out that some existing literature has abused the…
This paper presents a novel robust predictive controller for constrained nonlinear systems that is able to track piece-wise constant setpoint signals. The tracking model predictive controller presented in this paper extends the nonlinear…
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…
We propose a novel framework for learning stabilizable nonlinear dynamical systems for continuous control tasks in robotics. The key contribution is a control-theoretic regularizer for dynamics fitting rooted in the notion of…
In this paper we study an event based control algorithm for trajectory tracking in nonlinear systems. The desired trajectory is modelled as the solution of a reference system with an exogenous input and it is assumed that the desired…
Distance-based reward mechanisms in deep reinforcement learning (DRL) navigation systems suffer from critical safety limitations in dynamic environments, frequently resulting in collisions when visibility is restricted. We propose DRL-NSUO,…
Distributed drive electric vehicles offer superior yaw moment control for autonomous drifting in extreme maneuvers. Conventional drift analysis constructs stability boundaries from open loop equilibria points and assumes a fixed envelope…
This paper studies the drag-tracking guidance design problem of uncertain entry vehicles. With employing a Nussbaum type function to deal with input saturation constraint, an output feedback guidance law (bank angle magnitude) with a…
In this paper, we present a game-theoretic feedback terminal guidance law for an autonomous, unpowered hypersonic pursuit vehicle that seeks to intercept an evading ground target whose motion is constrained in a one-dimensional space. We…
We consider robust optimal experimental design (ROED) for nonlinear Bayesian inverse problems governed by partial differential equations (PDEs). An optimal design is one that maximizes some utility quantifying the quality of the solution of…
In realistic pursuit-evasion scenarios, abrupt target maneuvers generate unavoidable periods of elevated uncertainty that result in estimation delays. Such delays can degrade interception performance to the point of causing a miss. Existing…
We use Reinforcement Meta-Learning to optimize an adaptive integrated guidance, navigation, and control system suitable for exoatmospheric interception of a maneuvering target. The system maps observations consisting of strapdown seeker…
We propose a real-time signal control framework based on a nonlinear decision rule (NDR), which defines a nonlinear mapping between network states and signal control parameters to actual signal controls based on prevailing traffic…
This paper addresses the problem of designing a trajectory tracking control law for a quadrotor UAV, subsequent to complete failure of a single rotor. The control design problem considers the reduced state space which excludes the angular…
This paper addresses the nonovershooting control problem for strict-feedback nonlinear systems with unknown control direction. We propose a method that integrates extremum seeking with Lie bracket-based design to achieve approximately…
This paper presents joint motion planning of a vehicle with an attached rotating turret. The turret has a limited range as well as the field of view. The objective is capture a maneuvering target such that at the terminal time it is withing…
The main focus of the work presented in this thesis is to develop an optimal control based formation flying control strategy for high precision formation flying of small satellites that have restricted computation and storage capacity.…
For real-world deployments, it is critical to allow robots to navigate in complex environments autonomously. Traditional methods usually maintain an internal map of the environment, and then design several simple rules, in conjunction with…
This paper proposes a novel adaptive guidance system developed using reinforcement meta-learning with a recurrent policy and value function approximator. The use of recurrent network layers allows the deployed policy to adapt real time to…