相关论文: A Novel Formula Calculating the Dynamic State Erro…
We propose an algorithm based on online convex optimization for controlling discrete-time linear dynamical systems. The algorithm is data-driven, i.e., does not require a model of the system, and is able to handle a priori unknown and…
Modeling the kinematics and dynamics of robotics systems with suspended loads using dual quaternions has not been explored so far. This paper introduces a new innovative control strategy using dual quaternions for UAVs with cable-suspended…
We propose a fully data-driven, Koopman-based framework for statistically robust control of discrete-time nonlinear systems with linear embeddings. Establishing a connection between the Koopman operator and contraction theory, it offers…
This paper describes the synthesis and evaluation of a novel state estimator for a Quadrotor Micro Aerial Vehicle. Dynamic equations which relate acceleration, attitude and the aero-dynamic propeller drag are encapsulated in an extended…
This paper develops an adaptive autopilot for quadcopters with unknown dynamics. To do this, the PX4 autopilot architecture is modified so that the feedback and feedforward controllers are replaced by adaptive control laws based on…
Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…
A complete model of the motion of a quadcopter along a smooth spatial trajectory is presented. Based on the model, a robust algorithm is proposed for controlling a quadcopter using measurements of linear coordinates and yaw angle. By…
This paper provides new results for control of complex flight maneuvers for a quadrotor unmanned aerial vehicle (UAV). The flight maneuvers are defined by a concatenation of flight modes or primitives, each of which is achieved by a…
This paper studies optimal trajectory-tracking for driftless, x-flat nonlinear systems with three states and two inputs. The tracking problem is formulated in Bolza form with a quadratic cost of the tracking error and its derivative.…
The orbit tracking of free-evolutionary target system in closed quantum systems is studied in this paper. Based on the concept of system control theory, the unitary transformation is applied to change the time-dependent target function into…
A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…
This paper presents a novel synthesis method for designing an optimal and robust guidance law for a non-throttleable upper stage of a launch vehicle, using a convex approach. In the unperturbed scenario, a combination of lossless and…
Due to changes in model dynamics or unexpected disturbances, an autonomous robotic system may experience unforeseen challenges during real-world operations which may affect its safety and intended behavior: in particular actuator and system…
This paper investigates a planar tracking problem between a leader and follower agent. We propose a novel feedback speed control law, paired with a constant bearing steering strategy, to maintain an abreast formation between the two agents.…
In this paper, we present a novel decentralized controller to drive multiple unmanned aerial vehicles (UAVs) into a symmetric formation of regular polygon shape surrounding a mobile target. The proposed controller works for time-varying…
This paper provides a preliminary study for an efficient learning algorithm by reasoning the error from first principle physics to generate learning signals in near real time. Motivated by iterative learning control (ILC), this learning…
This work addresses the problem of path tracking control of a suspended load using a tilt-rotor UAV. The main challenge in controlling this kind of system arises from the dynamic behavior imposed by the load, which is usually coupled to the…
We present a new stability proof for cascaded geometric control used by aerial vehicles tracking time-varying position trajectories. Our approach uses sliding variables and a recently proposed quaternion-based sliding controller to…
In this paper, a linear mathematical model for a quad copter unmanned aerial vehicle (UAV) is derived. The three degrees of freedom (3DOF) and six degrees of freedom (6DOF) quad copter state-space models are developed starting from basic…
We study a trajectory tracking problem for a multi-rotor in the presence of modeling error and external disturbances. The desired trajectory is unknown and generated from a reference system with unknown or partially known dynamics. We…