Related papers: Stability Preserving Safe Control of a Bicopter
Unmanned Aerial Vehicles (UAVs) are now becoming increasingly accessible to amateur and com-mercial users alike. Several types of airspace structures are proposed in recent research, which include several structured free flight concepts. In…
This paper presents a model-based, adaptive, nonlinear controller for the bicopter stabilization and trajectory-tracking problem. The nonlinear controller is designed using the backstepping technique. Due to the non-invertibility of the…
In this paper, we present a cascade control structure to address the trajectory tracking problem for quadcopters, ensuring uniform global asymptotic stability of the state tracking error dynamics. An MPC strategy based on a 12-dimensional…
In the article$^a$, the authors introduced a time-varying Lyapunov function for the stability analysis of nonlinear systems whose motion is governed by standard Newton-Euler equations. The authors established asymptotic stability with the…
The coordination problem of multi-vehicle systems is of great interests in the area of autonomous driving and multi-vehicle control. This work mainly focuses on multi-task coordination problem of a group of vehicles with a bicycle model and…
The feedback linearization method is further developed for the controller design on general nonlinear systems. Through the Lyapunov stability theory, the intractable nonlinear implicit algebraic control equations are effectively solved, and…
Various control methods have been studied to control the position and attitude of quadrotors. There are some differences in the mathematical equations between the two types of quadrotor configurations that lead to different control…
This paper presents a nonlinear control law for the stabilization of a fixed-wing UAV. Such controller solves the path-following problem and the longitudinal control problem in a single control. Furthermore, the control design is performed…
The robust tracking and model following problem of linear discrete-time systems is investigated in this paper. An approach to design robust tracking controllers is proposed. The system is controlled to track dynamic inputs generated from a…
In this paper, a novel online, output-feedback, critic-only, model-based reinforcement learning framework is developed for safety-critical control systems operating in complex environments. The developed framework ensures system stability…
Reinforcement learning-based controller design methods often require substantial data in the initial training phase. Moreover, the training process tends to exhibit strong randomness and slow convergence. It often requires considerable time…
With quadrotors becoming immensely popular in applications such as relief operations, infrastructure maintenance etc., a key control design challenge arises when the quadrotor has to manoeuvre through constrained spaces during various…
Many of the existing works on quadrotor control address the trajectory tracking problem by employing a cascade design in which the translational and rotational dynamics are stabilized by two separate controllers. The stability of the…
In this paper, we focus on the problem about direct way to design a stable controller for nonlinear system. A framework of learning controller with Lyapunov-based constraint is proposed, which is intended to transform designing and analyis…
This paper presents an adaptive, model-based, nonlinear controller for the bicopter trajectory-tracking problem. The nonlinear controller is constructed by dynamically extending the bicopter model, stabilizing the extended dynamics using…
All practical systems often pose a problem of finite control capability, which can notably degrade the performance if not properly addressed. Since actuator input bounds are typically known, integrating actuator saturation considerations…
This paper presents a new Lyapunov-based nonlinear model predictive controller (LNMPC) for the attitude control problem of unmanned aerial vehicles (UAVs), which is essential for their functioning operation. The controller is designed based…
Solving optimal control problems to determine a stabilizing controller involves a significant computational effort. Time-varying optimal control provides a remedy by designing a tracking system, given as an ordinary differential equation,…
This paper addresses the challenge of safe stabilization, ensuring the system state reach the origin while avoiding unsafe regions. Existing approaches relying on smooth Lyapunov barrier functions often fail to guarantee a feasible…
Considering a nonlinear system in Byrnes-Isidori form that is subject to unbounded perturbations, we apply Lyapunov redesign via feedback linearisation for trajectory tracking. Leveraging the ideas of tube-based geometric characterisation…