Related papers: Trajectory tracking control for maneuverable nonho…
The design of tracking controllers that closely follow a reference trajectory while ensuring safety and robustness against disturbances is a challenging problem in the control of autonomous systems. In this work, we propose a neural…
Terrestrial and aerial bimodal vehicles have gained widespread attention due to their cross-domain maneuverability. Nevertheless, their bimodal dynamics significantly increase the complexity of motion planning and control, thus hindering…
Robot manipulators are often tasked with working in environments with vibrations and are subject to load uncertainty. Providing an accurate tracking control design with implementable torque input for these robots is a complex topic. This…
This paper presents a prescribed performance-based tracking control strategy for the atmospheric reentry flight of space vehicles subject to rapid maneuvers during flight mission. A time-triggered non-monotonic performance funnel is…
This paper presents a methodology to stabilize some kind of Nonlinear Control system known as Driftless, utilizing the concept of \textit{Pseudo-Kinetic Energy} introduced in this work. Once this controller is applied to the Unicycle-type…
This paper presents a control method and trajectory planner for vehicles with first-order nonholonomic constraints that guarantee asymptotic convergence to a time-indexed trajectory. To overcome the nonholonomic constraint, a fixed point in…
This work presents a novel framework for the formation control of multiple autonomous ground vehicles in an on-road environment. Unique challenges of this problem lie in 1) the design of collision avoidance strategies with obstacles and…
Virtual constraints are relations imposed on a control system that become invariant via feedback control, as opposed to physical constraints acting on the system. Nonholonomic systems are mechanical systems with non-integrable constraints…
This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main advantage of the formulation of the dynamic is that it does…
Agile control of mobile manipulator is challenging because of the high complexity coupled by the robotic system and the unstructured working environment. Tracking and grasping a dynamic object with a random trajectory is even harder. In…
Approximate dynamic programming has been investigated and used as a method to approximately solve optimal regulation problems. However, the extension of this technique to optimal tracking problems for continuous time nonlinear systems has…
In this work, we address traffic management of multiple payload transport systems comprising of non-holonomic robots. We consider loosely coupled rigid robot formations carrying a payload from one place to another. Each payload transport…
The paper is concerned with mechanical systems which are controlled by implementing a number of time-dependent, frictionless holonomic constraints. The main novelty is due to the presence of additional non-holonomic constraints. We develop…
Many robotic systems must follow planned paths yet pause safely and resume when people or objects intervene. We present an output-space method for systems whose tracked output can be feedback-linearized to a double integrator (e.g.,…
The approximate nonlinear receding-horizon control law is used to treat the trajectory tracking control problem of rigid link robot manipulators. The derived nonlinear predictive law uses a quadratic performance index of the predicted…
In this paper, the problem of partial stabilization of nonlinear systems along a given trajectory is considered. This problem is treated within the framework of stability of a family of sets. Sufficient conditions for the asymptotic…
Control schemes for dynamical systems typically involve stabilizing unstable periodic orbits. In this paper we introduce a new paradigm of control that involves `trapping' the dynamics arbitrarily close to any desired trajectory. This is…
This paper proposes a model predictive trajectory tracking approach for quadrotors subject to input constraints. Our proposed approach relies on a hierarchical control strategy with an outer-loop feedback generating the required thrust and…
In this series of papers, we present a motion planning framework for planning comfortable and customizable motion of nonholonomic mobile robots such as intelligent wheelchairs and autonomous cars. In this first one we present the…
Due to the limitation of the drone's load capacity, various specific tasks need to be accomplished by multiple drones in collaboration. In some transportation tasks, two drones are required to lift the load together, which brings even more…