相关论文: Distributed formation control for manipulator end-…
This paper studies the kinematic tracking control problem for aerial manipulators. Existing kinematic tracking control methods, which typically employ proportional-derivative feedback or tracking-error-based feedback strategies, may fail to…
A modulated model predictive controller is designed for an inductor-less modular multilevel converter targeting an MVDC solid-state transformer application. The underlying optimization problem is formulated such that a unique closed-form…
This paper presents a decentralized hybrid supervisory control approach for a team of unmanned helicopters that are involved in a leader-follower formation mission. Using a polar partitioning technique, the motion dynamics of the follower…
In this paper, the circle formation control problem is addressed for a group of cooperative underactuated fish-like robots involving unknown nonlinear dynamics and disturbances. Based on the reinforcement learning and cognitive consistency…
Aerial manipulators, which combine robotic arms with multi-rotor drones, face strict constraints on arm weight and mechanical complexity. In this work, we study a lightweight 2-degree-of-freedom (DoF) arm mounted on a quadrotor via a…
This paper studies the integrated position and attitude control problem for multi-agent systems of 3D rigid bodies. While the state-of-the-art method in [Olfati-Saber and Murray, 2004] established the theoretical foundation for rigid-body…
The schooling behavior of fish is hypothesized to confer many survival benefits, including foraging success, safety from predators, and energy savings through hydrodynamic interactions when swimming in formation. Underwater robot…
This paper studies the problem of multi-robot pursuit of how to coordinate a group of defending robots to capture a faster attacker before it enters a protected area. Such operation for defending robots is challenging due to the unknown…
Motion control of mobile manipulators (a robotic arm mounted on a mobile base) can be challenging for complex tasks such as material and package handling. In this paper, a task-space stabilization controller based on Nonlinear Model…
Formation control is essential for swarm robotics, enabling coordinated behavior in complex environments. In this paper, we introduce a novel formation control system for an indoor blimp swarm using a specialized leader-follower approach…
Manipulation performance improvement is crucial for aerial robots. For aerial manipulators, the baselink position and attitude errors directly affect the precision at the end effector. To address this stability problem, fixed-body…
In this paper, event-triggered controllers and corresponding algorithms are proposed to establish the formation with connectivity preservation for multi-agent systems. Each agent needs to update its control input and to broadcast this…
We present two distributed methods for the estimation of the kinematic parameters, the dynamic parameters, and the kinematic state of an unknown planar body manipulated by a decentralized multi-agent system. The proposed approaches rely on…
Formation control deals with the design of decentralized control laws that stabilize agents at prescribed distances from each other. We call any configuration that satisfies the inter-agent distance conditions a target configuration. It is…
This paper introduces an analytical framework for the derivation of hybrid equations of motion of a flexible quadrotor. This approach helps obtain rigid and elastic equations of motion simultaneously, in a decoupled form, which facilitates…
This paper describes an optimization framework to control a distributed parameter system (DPS) using a team of mobile actuators. The framework simultaneously seeks optimal control of the DPS and optimal guidance of the mobile actuators such…
Manipulating three-dimensional (3D) deformable objects presents significant challenges for robotic systems due to their infinite-dimensional state space and complex deformable dynamics. This paper proposes a novel model-free approach for…
We address the design of decentralized feedback control laws inducing consensus and prescribed spatial patterns over a singular interacting particle system of Cucker-Smale type. The control design consists of a feedback term regulating the…
The utilisation of unmanned aerial vehicles has witnessed significant growth in real-world applications including surveillance tasks, military missions, and transportation deliveries. This letter investigates practical problems of formation…
This work proposes a novel generative design tool for passive grippers -- robot end effectors that have no additional actuation and instead leverage the existing degrees of freedom in a robotic arm to perform grasping tasks. Passive…