相关论文: Full-Pose Tracking Control for Aerial Robotic Syst…

Reinforcement Learning (RL) methods have been proven successful in solving manipulation tasks autonomously. However, RL is still not widely adopted on real robotic systems because working with real hardware entails additional challenges,…

This paper studies the problem of integrated distributed network localization and formation maneuver control. We develop an integrated relative-measurement-based scheme, which only uses relative positions, distances, bearings, angles,…

The deployment of robots in industrial and civil scenarios is a viable solution to protect operators from danger and hazards. Shared autonomy is paramount to enable remote control of complex systems such as legged robots, allowing the…

Exploiting interaction with the environment is a promising and powerful way to enhance stability of humanoid robots and robustness while executing locomotion and manipulation tasks. Recently some works have started to show advances in this…

This paper presents a novel adaptive fast smooth second-order sliding mode control for the attitude tracking of the three degree-of-freedom (3-DOF) helicopter system with lumped disturbances. Combining with a non-singular integral sliding…

This paper proposes a nonlinear control architecture for flexible aircraft simultaneous trajectory tracking and load alleviation. By exploiting the control redundancy, the gust and maneuver loads are alleviated without degrading the…

Barrier Lyapunov functions are suitable for learning control designs, due to their feature of finite duration tracking. This paper presents fractional barrier Lyapunov functions, provided and compared with the conventional ones in the…

We present a novel method for learning hybrid force/position control from demonstration. We learn a dynamic constraint frame aligned to the direction of desired force using Cartesian Dynamic Movement Primitives. In contrast to approaches…

Learn-to-Fly (L2F) is a new framework that aims to replace the traditional iterative development paradigm for aerial vehicles with a combination of real-time aerodynamic modeling, guidance, and learning control. To ensure safe learning of…

This paper proposes a novel control architecture for state and input constrained Euler-Lagrange (E-L) systems with parametric uncertainties. A simple saturated controller is strategically coupled with a Barrier Lyapunov Function (BLF) based…

A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…

Legged robots with advanced manipulation capabilities have the potential to significantly improve household duties and urban maintenance. Despite considerable progress in developing robust locomotion and precise manipulation methods,…

This paper proposes an adaptive tracking controller for uncertain Euler-Lagrange (E-L) systems with user-defined state and input constraints in presence of bounded external disturbances. A barrier Lyapunov function (BLF) is employed for…

This paper presents a theoretical framework for analyzing the stability of higher-order geometric nonlinear control laws for attitude control on the Special Orthogonal Group $\mathrm{SO(3)}$. In particular, the paper extends existing…

Existing works on control of tractor-trailers systems only consider the kinematics model without taking dynamics into account. Also, most of them treat the issue as a pure control theory problem whose solutions are difficult to implement.…

The advent of rotor-based hopping robots has created very capable hopping platforms with high agility and efficiency, and similar controllability, as compared to their purely flying quadrotor counterparts. Advances in robot performance have…

A Lyapunov-based method is presented for stabilizing and controlling of closed quantum systems. The proposed method is constructed upon a novel quantum Lyapunov function of the system state trajectory tracking error. A positive-definite…

We consider the hovering control problem for a class of multi-rotor aerial platforms with generically oriented propellers. Given the intrinsically coupled translational and rotational dynamics of such vehicles, we first discuss some…

Although acrobatic flight control has been studied extensively, one key limitation of the existing methods is that they are usually restricted to specific maneuver tasks and cannot change flight pattern parameters online. In this work, we…

This paper explores expressing the relative state in the close-proximity satellite relative motion problem in terms of fundamental solution constants. The nominal uncontrolled relative state can be expressed in terms of a weighted sum of…