相关论文: Model Identification and Controller Parameter Opti…
Morphing quadrotors with four external actuators can adapt to different restricted scenarios by changing their geometric structure. However, previous works mainly focus on the improvements in structures and controllers, and existing…
Control theory provides engineers with a multitude of tools to design controllers that manipulate the closed-loop behavior and stability of dynamical systems. These methods rely heavily on insights about the mathematical model governing the…
Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments. Adaptive control laws can endow even nonlinear systems with good trajectory tracking performance, provided that any uncertain dynamics…
Learning-based adaptation of Control Barrier Function (CBF) parameters offers a promising path toward safe autonomous navigation that balances conservatism with performance. Yet the accuracy of the underlying safety predictor is ultimately…
This study presents a noise-robust closed-loop control strategy for wake flows employing model predictive control. The proposed control framework involves the autonomous offline selection of hyperparameters, eliminating the need for user…
Safety is of paramount importance in control systems to avoid costly risks and catastrophic damages. The control barrier function (CBF) method, a promising solution for safety-critical control, poses a new challenge of enhancing control…
Controller tuning and parameter optimization are crucial in system design to improve closed-loop system performance. Bayesian optimization has been established as an efficient model-free controller tuning and adaptation method. However,…
The complex tasks such as surveillance, construction, search and rescue can benefit of the maneuverability of multirotor Micro Aerial Vehicles (MAVs) to obtain robust, cooperative system behavior and formation control is a prominent…
Automatic underwater vehicle hull Design optimization is a complex engineering process for generating a UUV hull with optimized properties on a given requirement. First, it involves the integration of involved computationally complex…
An oscillating body floating at the water surface produces a wave-field of self-generated waves. When the oscillation induces a difference in fore-aft wave amplitude squared, these self-generated waves can be used as a mechanism to propel…
Differential-driven wheeled robots (DWR) represent the quintessential type of mobile robots and find extensive appli- cations across the robotic field. Most high-performance control approaches for DWR explicitly utilize the linear and…
Recently, learning-based controllers have been shown to push mobile robotic systems to their limits and provide the robustness needed for many real-world applications. However, only classical optimization-based control frameworks offer the…
Driverless vehicles are complex systems operating in constantly changing environments. Automated driving is achieved by controlling the coupled longitudinal and lateral vehicle dynamics. Model predictive control is one of the most promising…
Underwater robotic manipulation faces significant challenges due to complex fluid dynamics and unstructured environments, causing most manipulation systems to rely heavily on human teleoperation. In this paper, we introduce AquaBot, a fully…
This study describes the development of a novel numerical optimization framework to maximize the endurance of unmanned aerial vehicles (UAVs). We address the problem of numerically determining the optimal thrust and cruise angle of attack…
Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments. Adaptive control laws can endow even nonlinear systems with good trajectory tracking performance, provided that any uncertain dynamics…
This article describes a guidance system of the autonomous underwater vehicle "DeepC" [1] in Special situations. A special situation occurs when one or more objects interfere with the planned route of a mission. The possible reactions are…
This paper presents a sampled-data framework for the safe navigation of controlled agents in environments cluttered with obstacles governed by uncertain linear dynamics. Collision-free motion is achieved by combining Control Barrier…
This work proposes a systematic framework for modelling and controller design of a Commercial-Off-The Shelf (COTS) unmanned rotorcraft using control theory and principles, for brick wall construction. With point to point navigation as the…
Simulation-based testing remains the main approach for validating Autonomous Driving Systems. We propose a rigorous test method based on breaking down scenarios into simple ones, taking into account the fact that autopilots make decisions…