Related papers: Robust Adaptive Sliding-Mode Control for Damaged F…
Robust adaptive model predictive control (RAMPC) is a novel control method that combines robustness guarantees with respect to unknown parameters and bounded disturbances into a model predictive control scheme. However, RAMPC has so far…
Adaptive Cruise Control has seen significant advancements, with Collaborative Adaptive Cruise Control leveraging Vehicle-to-Vehicle communication to enhance coordination and stability. However, the reliance on stable communication channels…
In the real-world, self-driving vehicles are required to achieve steering maneuvers in both uncontrolled and uncertain environments while maintaining high levels of safety and passengers' comfort. Ignoring these requirements would…
In this paper, the tracking control problem of a class of Euler-Lagrange systems subjected to unknown uncertainties is addressed and an adaptive-robust control strategy, christened as Time-Delayed Adaptive Robust Control (TARC) is…
Operating unmanned aerial vehicles (UAVs) in complex environments that feature dynamic obstacles and external disturbances poses significant challenges, primarily due to the inherent uncertainty in such scenarios. Additionally, inaccurate…
Marine waves significantly disturb the unmanned surface vehicle (USV) motion. An unmanned aerial vehicle (UAV) can hardly land on a USV that undergoes irregular motion. An oversized landing platform is usually necessary to guarantee the…
Unmanned Surface Vehicles (USVs) play a pivotal role in various applications, including surface rescue, commercial transactions, scientific exploration, water rescue, and military operations. The effective control of high-speed unmanned…
This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transformation, we convert diverse vehicle…
A novel dynamic model-based trajectory tracking control law is proposed for a four-wheel differentially driven mobile robot using a backstepping technique that guarantees the Lyapunov stability. The present work improves the work of…
Adaptation to unpredictable damages is crucial for autonomous legged robots, yet existing methods based on multi-policy or meta-learning frameworks face challenges like limited generalization and complex maintenance. To address this issue,…
This article concerns the development of the Vector Field Orientation - Active Disturbance Rejection (VFO-ADR) cascaded path-following controller for underactuated vehicles moving in a 3-dimensional space. The proposed concept of a cascaded…
In this paper we present a maneuver regulation scheme for Vertical Take-Off and Landing (VTOL) micro aerial vehicles (MAV). Differently from standard trajectory tracking, maneuver regulation has an intrinsic robustness due to the fact that…
Safety and stability are common requirements for robotic control systems; however, designing safe, stable controllers remains difficult for nonlinear and uncertain models. We develop a model-based learning approach to synthesize robust…
This paper presents a robust path following control method for vehicles that explicitly considers steering resistance dynamics to improve tracking accuracy. Conventional methods typically treat the steering angle as a direct control input;…
When an aircraft is flying and burning fuel the center of gravity (c.g.) of the aircraft shifts slowly. The c.g. can also be shifted abruptly when e.g. a fighter aircraft releases a weapon. The shift in c.g. is difficult to measure or…
Bio-inspired methods can provide efficient solutions to perform autonomous landing for Micro Air Vehicles (MAVs). Flying insects such as honeybees perform vertical landings by keeping flow divergence constant. This leads to an exponential…
In this paper an adaptive sliding mode control approach for a quadrotor stabilization and trajectory tracking is presented. The closed loop control consists of three parts; the first part is quadrotor altitude and attitude stabilization,…
Robust stabilization conditions for uncertain switched affine systems subject to a unitary input delay are presented. They are obtained through the Lyapunov framework and a min-switching state-feedback predictive control law. The result…
The growing field of aerial manipulation often relies on fully actuated or omnidirectional micro aerial vehicles (OMAVs) which can apply arbitrary forces and torques while in contact with the environment. Control methods are usually based…
Air-to-air missiles are used on many modern military combat aircraft for self-defence. It is imperative for the pilots using the weapons that the missiles hit their target first time. The important goals for a missile control system to…