Related papers: A Simulation Evaluation Suite for Robust Adaptive …
Given the cost and critical functions of satellite constellations, ensuring mission longevity and safe decommissioning is essential for space sustainability. This article presents a Model Predictive Control for spacecraft trajectory and…
Quadrupedal robots exhibit remarkable adaptability in unstructured environments, making them well-suited for formation control in real-world applications. However, keeping stable formations while ensuring collision-free navigation presents…
As deep learning applications, especially programs of computer vision, are increasingly deployed in our lives, we have to think more urgently about the security of these applications.One effective way to improve the security of deep…
Vision-based locomotion in outdoor environments presents significant challenges for quadruped robots. Accurate environmental prediction and effective handling of depth sensor noise during real-world deployment remain difficult, severely…
This paper proposes a model predictive trajectory tracking approach for quadrotors subject to input constraints. Our proposed approach relies on a hierarchical control strategy with an outer-loop feedback generating the required thrust and…
Path following and lateral stability are crucial issues for autonomous vehicles. Moreover, these problems increase in complexity when handling articulated heavy-duty vehicles due to their poor manoeuvrability, large sizes and mass…
This paper highlights the significance of the rotor dynamics in control design for small-scale aerobatic helicopters, and proposes two singularity free robust attitude tracking controllers based on the available states for feedback. 1. The…
Robust design of autonomous systems under uncertainty is an important yet challenging problem. This work proposes a robust controller that consists of a state estimator and a tube based predictive control law. The class of linear systems…
Task-space quadratic programming (QP) is an elegant approach for controlling robots subject to constraints. Yet, in the case of kinematic-controlled (i.e., high-gains position or velocity) robots, closed-loop QP control scheme can be prone…
Nonlinear Robust Model Predictive Control (RMPC) provides a very promising solution to the problem of automatic emergency maneuvering, which is capable of handling multiple possibly conflicting objectives of robustness and performance. Even…
This paper provides new results for a robust adaptive tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid…
The complexities in the dynamic model of the legged robots make it necessary to utilize model-free controllers in the task of trajectory tracking. In This paper, an adaptive transpose Jacobian approach is proposed to deal with the dynamic…
We provide a method to design adaptive controllers for nonlinear systems using model predictive control (MPC). By combining a certainty-equivalent MPC formulation with least-mean-square parameter adaptation, we obtain an adaptive controller…
This paper proposes an approach to addresses the control challenges posed by a fault-induced uncertainty in both the dynamics and control input effectiveness of a class of hierarchical nonlinear systems in which the high-level dynamics is…
- This work has been submitted to IFAC for possible publication - Models of traction batteries are an essential tool throughout the development of automotive drivetrains. Surprisingly, today's massively collected battery data is not yet…
In this paper, an adaptive super-twisting controller is designed for an agile maneuvering quadrotor unmanned aerial vehicle to achieve accurate trajectory tracking in the presence of external disturbances. A cascaded control architecture is…
Field robotics applications, such as search and rescue, involve robots operating in large, unknown areas. These environments present unique challenges that compound the difficulties faced by a robot operator. The use of multi-robot teams,…
Motion planning in high-dimensional space is a challenging task. In order to perform dexterous manipulation in an unstructured environment, a robot with many degrees of freedom is usually necessary, which also complicates its motion…
Autonomous landing on a moving platform presents unique challenges for multirotor vehicles, including the need to accurately localize the platform, fast trajectory planning, and precise/robust control. Previous works studied this problem…
The task of flying in tight formations is challenging for teams of quadrotors because the complex aerodynamic wake interactions can destabilize individual team members as well as the team. Furthermore, these aerodynamic effects are highly…