Related papers: Robust Adaptive Sliding-Mode Control for Damaged F…

This paper investigates the position-tracking control problem for fixed-wing unmanned aerial vehicles (UAVs) equipped with a turbojet engine via an integrated flight and propulsion control scheme. To this end, a hierarchical control…

Within the missile guidance and control system the autopilot must overcome an array of variables and uncertainties to maintain tracking trajectory. A large uncertainty explored in this paper is the difference between the assumed flight…

Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the…

This paper studies the trajectory tracking and motion control problems for autonomous vehicles (AVs). A parameter adaptive control framework for AVs is proposed to enhance tracking accuracy and yaw stability. While establishing linear…

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…

In this paper, the control problem for underactuated systems in the presence of external disturbances and model uncertainties is considered. An adaptive fuzzy sliding mode controller (AFSMC) is proposed to solve the problem, satisfying the…

This paper presents a new kind of vectorial backstepping sliding mode control (BSMC) for the positioning and trajectory tracking of an autonomous robotic airship. Also, a unified framework basis for the design/analysis of vectorial BSMC, as…

We propose a simple, practical and intuitive approach to improve the performance of a conventional controller in uncertain environments using deep reinforcement learning while maintaining safe operation. Our approach is motivated by the…

As off-the-shelf (OTS) autopilots become more widely available and user-friendly and the drone market expands, safer, more efficient, and more complex motion planning and control will become necessary for fixed-wing aerial robotic…

This paper deals with the problems of stochastic stability and sliding mode control for a class of continuous-time Markovian jump systems with mode-dependent time-varying delays and partly unknown transition probabilities. The design method…

This paper deals with sliding mode control for multivariable polytopic uncertain systems. We provide systematic procedures to design variable structure controllers (VSCs) and unit-vector controllers (UVCs). Based on suitable representations…

Sliding mode control (SMC) is a robust and computationally efficient solution for tracking control problems of highly nonlinear systems with a great deal of uncertainty. High frequency oscillations due to chattering phenomena and…

The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…

This paper addresses efficient feasibility evaluation of possible emergency landing sites, online navigation, and path following for automatic landing under engine-out failure subject to turbulent weather. The proposed Multi-level Adaptive…

In controlling systems with large operating envelopes, it is often necessary to adjust the desired dynamics according to operating conditions. This paper presents a robust adaptive control architecture for linear parameter-varying (LPV)…

Unmanned aerial vehicle (UAV) with slung load system is a classic air transportation system. In practical applications, the suspension point of the slung load does not always align with the center of mass (CoM) of the UAV due to mission…

The vertical stabilizer is the key aerodynamic surface that provides an aircraft with its directional stability characteristic while ailerons and rudder are the primary control surfaces that give pilots control authority of the yawing and…

Satellite rendezvous and docking (RvD) maneuvers are essential for satellite servicing and in-orbit assembly. Traditional approaches often treat translational and rotational motions independently, simplifying control design but potentially…

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…

With the characteristics of vertical take-off and landing and long endurance, tiltrotor has attracted considerable attention in recent decades for its potential applications in civil and scientific research. However, the problems of strong…