相关论文: Path tracking and stabilization for a reversing ge…

This paper studies a control method for switching stable coexisting attractors of a class of non-autonomous dynamical systems. The central idea is to introduce a continuous path for the system's trajectory to transition from its original…

This paper presents a combined sliding-mode control and subspace stabilization methodology for orbital stabilization of periodic trajectories in underactuated mechanical systems with one degree of underactuation. The approach starts with…

In the present paper we focus our attention on the design of the feedback-based feed-forward controller asymptotically stabilizing the double-pendulum-type crane system with the time-varying rope length in the desired end position of…

Practical autonomous driving requires models that generalize by reasoning through spatial-temporal possibilities to exclude unsafe outcomes. While state-of-the-art (SOTA) methods use parallel planning architectures, they fail to explicitly…

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, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling…

This work presents proximally optimal predictive control algorithm, which is essentially a model-based lateral controller for steered autonomous vehicles that selects an optimal steering command within the neighborhood of previous steering…

This paper presents a cascaded control architecture, based on nonlinear dynamic inversion (NDI), for rigid body attitude control. The proposed controller works directly with the rotation matrix parameterization, that is, with elements of…

Vehicle platooning has attracted increasing attention as a promising approach to improve traffic efficiency, energy consumption, and roadway safety through coordinated multi-vehicle operation. A key challenge in platooning lies in…

In order to increase the number of situations in which an intelligent vehicle can operate without human intervention, lateral control is required to accurately guide it in a reference trajectory regardless of the shape of the road or the…

This paper presents a strictly convex chance-constrained stochastic control framework that accounts for uncertainty in control specifications such as reference trajectories and operational constraints. By jointly optimizing control inputs…

Elastic geodesic grids deploy from flat to spatial configurations via complex nonlinear motion that is difficult to represent robustly for simulation. We present a geometric guidance framework that discretizes deployment as synchronized,…

This paper presents a method for path-following for quadcopter trajectories in real time. Non-Linear Guidance Logic is used to find the intercepts of the subsequent destination. Trajectory tracking is implemented by formulating the…

This paper presents a safety-critical control framework to maintain bounded lateral motions for vehicles braking on asymmetric surfaces. We synthesize a brake controller that assists drivers and guarantees safety against excessive lateral…

This paper investigates the car-following problem and proposes a nonlinear controller that considers driving comfort, safety concerns, steady-state response and transient response. This controller is designed based on the demands of lower…

Under extreme conditions, autonomous drifting enables vehicles to follow predefined paths at large slip angles, significantly enhancing the control system's capability to handle hazardous scenarios. Four-wheel-drive and four-wheel-steering…

The paper presents the method of attractive cylinders -- a generalization of the atrractive ellipsoid method to the cases of tracking and observation. Based on the developed method, an algorithm for calculating the parameters of the…

This article presents a guidance-control design methodology for the autonomous maneuvering of tailsitter unmanned aerial systems (UAS) in hybrid flight regimes (i.e. the dynamics between VTOL and fixed wing regime). The tailsitter…

This study has developed a fault-tolerant controller that is able to recover a quadrotor from arbitrary initial orientations and angular velocities, despite the complete failure of a rotor. This cascaded control method includes a…

This paper presents the design of a geometric trajectory tracking controller for the cooperative task of two quadrotor UAVs (unmanned aerial vehicles) carrying and transporting a rigid bar, which is attached to the quadrotors via inflexible…