Related papers: PCT-Based Trajectory Tracking for Underactuated Ma…
This work introduces two lightweight model predictive control (MPC) approaches for attitude tracking with reaction wheels during spacecraft rendezvous synchronization. Both approaches are based on a novel attitude deviation formulation,…
We extend source seeking algorithms, in the absence of position and velocity measurements, and with tuning of the surge input, from velocity-actuated (unicycle) kinematic models to force-actuated generic Euler-Lagrange dynamic underactuated…
This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…
This study explores the applicability of a graph-based interaction-aware trajectory prediction model, originally developed for the transportation domain, to forecast particle trajectories in three-dimensional discrete element simulations.…
An MPC controller uses a model of the dynamical system to plan an optimal control strategy for a finite horizon, which makes its performance intrinsically tied to the quality of the model. When faults occur, the compromised model will…
Accurate trajectory tracking is an essential characteristic for the safe navigation of a quadrotor in cluttered or disturbed environments. In this paper, we present in detail two state-of-the-art model-based control frameworks for…
When deploying autonomous systems in unknown and changing environments, it is critical that their motion planning and control algorithms are computationally efficient and can be reapplied online in real time, whilst providing theoretical…
This paper addresses the problem of tracking control for robotic vehicles equipped with pivoted unidirectional actuators. Starting from a baseline robust controller that assumes unconstrained inputs, we redesign the control law to be…
Tilted hexarotors embody a technology that remains partially unexploited in terms of its potential, especially concerning precise and concurrent position and attitude control. Focusing on these aerial platforms, we propose two control…
This paper proposes a novel tube-based Model Predictive Control (MPC) framework for tracking varying setpoint references with linear systems subject to additive and multiplicative uncertainties. The MPC controllers designed using this…
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…
We propose Mirror Descent Optimal Transport (MDOT), a novel method for solving discrete optimal transport (OT) problems with high precision, by unifying temperature annealing in entropic-regularized OT (EOT) with mirror descent techniques.…
This paper presents a control framework for magnetically actuated cellbots, which combines Model Predictive Control (MPC) with Gaussian Processes (GPs) as a disturbance estimator for precise trajectory tracking. To address the challenges…
Model Predictive Control (MPC) is often tuned by trial and error. When a baseline linear controller exists that is already well tuned in the absence of constraints and MPC is introduced to enforce them, one would like to avoid altering the…
This paper focuses on the problem of spacecraft attitude control in the presence of time-varying parameter uncertainties and multiple constraints, accounting for angular velocity limitation, performance requirements, and input saturation.…
A novel tracking paradigm for flying geometric trajectories using tethered kites is presented. It is shown how the differential-geometric notion of turning angle can be used as a one-dimensional representation of the kite trajectory, and…
Despite the success of model predictive control (MPC), its application to high-dimensional systems, such as flexible structures and coupled fluid/rigid-body systems, remains a largely open challenge due to excessive computational…
We develop a method for the model reference adaptive control (MRAC) of LTI systems via Extremum Seeking (ES). Our proof of global asymptotic tracking enables design of the adaptive controller to satisfy averaging requirements, and…
Overactuated omnidirectional flying vehicles are capable of generating force and torque in any direction, which is important for applications such as contact-based industrial inspection. This comes at the price of an increase in model…
Control contraction metrics (CCMs) are a new approach to nonlinear control design based on contraction theory. The resulting design problems are expressed as pointwise linear matrix inequalities and are and well-suited to solution via…