Related papers: Learning Robust Agile Flight Control with Stabilit…
This work presents a new sufficient condition for synthesizing nonlinear controllers that yield bounded closed-loop tracking error transients despite the presence of unmatched uncertainties that are concurrently being learned online. The…
This work studies the design of safe control policies for large-scale non-linear systems operating in uncertain environments. In such a case, the robust control framework is a principled approach to safety that aims to maximize the…
Robots must satisfy safety-critical state and input constraints despite disturbances and model mismatch. We introduce a robust model predictive control (RMPC) formulation that is fast, scalable, and compatible with real-time implementation.…
Quadrotors are one of the popular unmanned aerial vehicles (UAVs) due to their versatility and simple design. However, the tuning of gains for quadrotor flight controllers can be laborious, and accurately stable control of trajectories can…
Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…
This paper proposes a Recurrent Neural Network (RNN) controller for lane-keeping systems, effectively handling model uncertainties and disturbances. First, quadratic constraints cover the nonlinearities brought by the RNN controller, and…
An omnidirectional multirotor has the maneuverability of decoupled translational and rotational motions, superseding the traditional multirotors' motion capability. Such maneuverability is achieved due to the ability of the omnidirectional…
A key open challenge in agile quadrotor flight is how to combine the flexibility and task-level generality of model-free reinforcement learning (RL) with the structure and online replanning capabilities of model predictive control (MPC),…
This work presents a geometric backstepping controller for a variable-tilt omnidirectional multirotor that explicitly accounts for both servo and rotor dynamics. Considering actuator dynamics is essential for more effective and reliable…
Attitude stabilization of unmanned aerial vehicles (UAVs) in uncertain environments presents significant challenges due to nonlinear dynamics, parameter variations, and sensor limitations. This paper presents a comparative study of…
Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments. Adaptive control laws can endow even nonlinear systems with good trajectory tracking performance, provided that any uncertain dynamics…
Agile flight in complex environments poses significant challenges to current motion planning methods, as they often fail to fully leverage the quadrotor dynamic potential, leading to performance failures and reduced efficiency during…
Nowadays, the application of fully autonomous system like rotary wing unmanned air vehicles (UAVs) is increasing sharply. Due to the complex nonlinear dynamics, a huge research interest is witnessed in developing learning machine based…
We investigate the important problem of certifying stability of reinforcement learning policies when interconnected with nonlinear dynamical systems. We show that by regulating the input-output gradients of policies, strong guarantees of…
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…
A major challenge in autonomous flights is unknown disturbances, which can jeopardize safety and lead to collisions, especially in obstacle-rich environments. This paper presents a disturbance-aware motion planning and control framework…
Recent advances in trajectory replanning have enabled quadrotor to navigate autonomously in unknown environments. However, high-speed navigation still remains a significant challenge. Given very limited time, existing methods have no strong…
This paper presents a controller design and optimization framework for nonlinear dynamic systems to track a given reference signal in the presence of disturbances when the task is repeated over a finite-time interval. This novel framework…
Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…
Safe operations of UAVs are of paramount importance for various mission-critical and safety-critical UAV applications. In context of airborne target tracking and following, UAVs need to track a flying target avoiding collision and also…