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This article focuses on integrating path-planning and control with specializing on the unique needs of robotic unicycles. A unicycle design is presented which is capable of accelerating/breaking and carrying out a variety of maneuvers. The…
This paper presents a constraint-aware control framework for underactuated aerial manipulators, enabling accurate end-effector trajectory tracking while explicitly accounting for safety and feasibility constraints. The control problem is…
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…
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…
This paper proposes a new robust trajectory tracking error-based control approach for unmanned ground vehicles. A trajectory tracking error-based model is used to design a linear model predictive controller and its control action is…
This paper addresses the problem of designing a trajectory tracking control law for a quadrotor UAV, subsequent to complete failure of a single rotor. The control design problem considers the reduced state space which excludes the angular…
In real-world control applications, actuator constraints and output constraints (specifically in tracking problems) are inherent and critical to ensuring safe and reliable operation. However, generally, control strategies often neglect…
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…
In this paper a geometric approach to the trajectory tracking control of Unmanned Aerial Vehicles with thrust vectoring capabilities is proposed. The control design is suitable for aerial systems that allow to effectively decouple position…
This paper presents a novel design for finite-time position control of quadrotor Unmanned Aerial Vehicles (UAVs). A robust, finite-time, nonlinear feedback controller is introduced to reject bounded disturbances in tracking tasks. The…
We present a control strategy that applies inverse dynamics to a learned acceleration error model for accurate multirotor control input generation. This allows us to retain accurate trajectory and control input generation despite the…
Overactuated Tilt Rotor Unmanned Aerial Vehicles are renowned for exceptional wind resistance and a broad operational range, which poses complex control challenges due to non-affine dynamics. Traditional solutions employ multi-state…
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…
In this paper, we investigate the problem of unified prescribed performance tracking for a class of non-square strict-feedback nonlinear systems under relaxed controllability conditions. By using a skillful matrix decomposition and…
While deep reinforcement learning (RL) methods have achieved unprecedented successes in a range of challenging problems, their applicability has been mainly limited to simulation or game domains due to the high sample complexity of the…
This note proposes a general control approach, called vector-field guided constraint-following control, to solve the dynamics control problem of geometric path-following for a class of uncertain mechanical systems. More specifically, it…
Usually, a controller for path- or trajectory tracking is employed in autonomous driving. Typically, these controllers generate high-level commands like longitudinal acceleration or force. However, vehicles with combustion engines expect…
Differential drive robots that can be modeled as a kinematic unicycle are a standard mobile base platform for many service and logistics robots. Safe and smooth autonomous motion around obstacles is a crucial skill for unicycle robots to…
Visual control enables quadrotors to adaptively navigate using real-time sensory data, bridging perception with action. Yet, challenges persist, including generalization across scenarios, maintaining reliability, and ensuring real-time…
This paper addresses the challenges of distributed formation control in multiple mobile robots, introducing a novel approach that enhances real-world practicability. We first introduce a distributed estimator using a variable structure and…