相关论文: Hybrid Feedback for Global Tracking on Matrix Lie …

This paper presents a systematic approach to exponentially stabilize the periodic orbits of multi-domain hybrid systems arising from 3D bipedal walking. Firstly, the method of Poincare sections is extended to the hybrid systems with…

In this paper, we present a hybrid sensorless observer for Permanent Magnets Synchronous Machines, with no a priori knowledge of the mechanical dynamics and without the typical assumption of constant or slowly-varying speed. Instead, we…

A novel approach to design the feedback control based on past states is proposed for hybrid stochastic differential equations (HSDEs). This new theorem builds up the connection between the delay feedback control and the control function…

Dynamic maneuvers for legged robots present a difficult challenge due to the complex dynamics and contact constraints. This paper introduces a versatile trajectory optimization framework for continuous-time multi-phase problems. We…

Semi-Global Exponential Stability (SGES) is proved for the combined attitude and position rigid body motion tracking problem, which was previously only known to be asymptotically stable. Dual quaternions are used to jointly represent the…

This paper proposes a general framework for constructing feedback controllers that drive complex dynamical systems to "efficient" steady-state (or slowly varying) operating points. Efficiency is encoded using generalized equations which can…

This paper presents nonlinear tracking control systems for a quadrotor unmanned aerial vehicle under the influence of uncertainties. Assuming that there exist unstructured disturbances in the translational dynamics and the attitude…

The modified Rodrigues parameters (MRP) consist of two numerically different triplets that, by switching between them, yield a minimal globally non-singular attitude description with advantageous properties. The MRP space results from the…

Adaptive control is a critical component of reliable robot autonomy in rapidly changing operational conditions. Adaptive control designs benefit from a disturbance model, which is often unavailable in practice. This motivates the use of…

This technical note aims to introduce geometric controllers to roboticists for aligning \emph{3D robots} with non-constant 3D vector fields. This alignment entails the control of the robot's 3D attitude. We derive with excessive detail all…

Many robotic systems allow independent control of position and orientation (pose), including omnidirectional aerial vehicles, underwater robots, and manipulator end-effectors. In many applications, these systems must follow a continuous…

We consider third-order dynamic systems which have an integral feedback action and discontinuous relay disturbance. More specifically for the applications, the focus is on the integral plus state-feedback control of the motion systems with…

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…

This paper proposes two novel nonlinear attitude filters evolved directly on the Special Orthogonal Group SO(3) able to ensure prescribed measures of transient and steady-state performance. The tracking performance of the normalized…

Under the multi-objective framework, this paper presents a hybrid algorithm to solve robust static output feedback control problem for continuous poly-topic uncertain system. To obtain static output feedback gain, a new hybrid algorithm is…

This paper investigates the problem of continuous attitude estimation on $SO(3)$ using continuous angular velocity and linear acceleration measurements as well as intermittent linear velocity and inertial vector measurements. First, we…

Gradient-based methods can efficiently optimize controllers by leveraging differentiable simulation and physical priors. However, contact-rich manipulation remains challenging because hybrid contact dynamics often produce discontinuous or…

This work proposes a hybrid framework for car-like robots with obstacle avoidance, global convergence, and safety, where safety is interpreted as path invariance, namely, once the robot converges to the path, it never leaves the path. Given…

Path tracking system plays a key technology in autonomous driving. The system should be driven accurately along the lane and be careful not to cause any inconvenience to passengers. To address such tasks, this paper proposes hybrid tracker…

This work proposes a new procedure for the stabilization of time-delay systems using Static Output Feedback (SOF) control. A previous convex optimization approach to SOF for Ordinary Differential Equations (ODEs) is extended to time-delay…