Related papers: Feedback Linearization-Based Guidance with Zero-Dy…
Learning to perform perfect tracking tasks based on measurement data is desirable in the controller design of systems operating repetitively. This motivates the present paper to seek an optimization-based design approach for iterative…
We study in this paper the problem of adaptive trajectory tracking control for a class of nonlinear systems with parametric uncertainties. We propose to use a modular approach, where we first design a robust nonlinear state feedback which…
In realistic pursuit-evasion scenarios, abrupt target maneuvers generate unavoidable periods of elevated uncertainty that result in estimation delays. Such delays can degrade interception performance to the point of causing a miss. Existing…
A three-dimensional (3D) integrated guidance and control (IGC) design approach is proposed by using small-gain theorem in this paper. The 3D IGC model is formulated by combining nonlinear pursuer dynamics with the nonlinear dynamics…
We study feedback motion planning for continuous-time stochastic nonlinear systems under signal temporal logic (STL) specifications. We propose a framework that synthesizes control policies for chance-constrained STL trajectory optimization…
Controlling nonlinear systems, especially when data are being used to offset uncertainties in the model, is hard. A natural approach when dealing with the challenges of nonlinear control is to reduce the system to a linear one via change of…
We present a novel approach to control design for nonlinear systems which leverages model-free policy optimization techniques to learn a linearizing controller for a physical plant with unknown dynamics. Feedback linearization is a…
In this article, we present data-driven feedback linearization for nonlinear systems with periodic orbits in the zero-dynamics. This scenario is challenging for data-driven control design because the higher order terms of the internal…
This paper considers a pursuit-evasion scenario among three agents -- an evader, a pursuer, and a defender. We design cooperative guidance laws for the evader and the defender team to safeguard the evader from an attacking pursuer. Unlike…
Combining control engineering with nonparametric modeling techniques from machine learning allows to control systems without analytic description using data-driven models. Most existing approaches separate learning, i.e. the system…
A circular pursuit guidance problem involving pursuer-target engagement is studied in this paper using a bifurcation theory based numerical approach. While target is modeled as a point mass moving around in a circle with certain velocity,…
The feedback linearization method is further developed for the controller design on general nonlinear systems. Through the Lyapunov stability theory, the intractable nonlinear implicit algebraic control equations are effectively solved, and…
With the introduction of the laterally bounded forces, the tilt-rotor gains more flexibility in the controller design. Typical feedback linearization methods utilize all the inputs in controlling this vehicle; the magnitudes as well as the…
This note studies the robust output feedback stabilization problem of a class of multi-input multi-output invertible nonlinear systems, for which an "ideal" state feedback based on feedback linearization can be designed under certain mild…
This paper presents an approach to target tracking that is based on a variable-gain integrator and the Newton-Raphson method for finding zeros of a function. Its underscoring idea is the determination of the feedback law by measurements of…
This paper investigates the problem of straight-line path following for magnetic helical microswimmers. The control objective is to make the helical microswimmer to converge to a straight line without violating the step-out frequency…
Feedback optimization is a control paradigm that enables physical systems to autonomously reach efficient operating points. Its central idea is to interconnect optimization iterations in closed-loop with the physical plant. Since iterative…
A ship steering control is designed for a nonlinear maneuvering model whose rudder manipulation is constrained in both magnitude and rate. In our method, the tracking problem of the target heading angle with input constraints is converted…
Biological evidence shows that animals are capable of evading eminent collision without using depth information, relying solely on looming stimuli. In robotics, collision avoidance among uncooperative vehicles requires measurement of…
This paper considers the leader-follower tracking control problem for linear interconnected systems with undirected topology and linear dynamic coupling. Interactions between the systems are treated as linear dynamic uncertainty and are…