相关论文: Kinematic Control of 2-wheeled Segway

In order to meet the requirements for autonomous systems in real world applications, reliable path following controllers have to be designed to execute planned paths despite the existence of disturbances and model errors. In this paper we…

Today, electric scooter is a trendy personal mobility vehicle. The rising demand and opportunities attract ride-share services. A common problem of such services is abandoned e-scooters. An autonomous e-scooter capable of moving to the…

The steering control of an autonomous unicycle is considered. The underlying dynamical model of a single rolling wheel is discussed regarding the steady state motions and their stability. The unicycle model is introduced as the simplest…

In this paper, we model the planar motion of a quadcopter, and develop a linear model of the same. We perform stability analysis of the open loop system and develop a PD controller for its position control. We compare the closed loop…

In the real-world, self-driving vehicles are required to achieve steering maneuvers in both uncontrolled and uncertain environments while maintaining high levels of safety and passengers' comfort. Ignoring these requirements would…

Simulation has played an important role in efficiently evaluating self-driving vehicles in terms of scalability. Existing methods mostly rely on heuristic-based simulation, where traffic participants follow certain human-encoded rules that…

Identifying and controlling an unstable, underactuated robot to enable reference tracking is a challenging control problem. In this paper, a ballbot (robot balancing on a ball) is used as an experimental setup to demonstrate and test…

Tracked vehicles distribute their weight continuously over a large surface area (the tracks). This distinctive feature makes them the preferred choice for vehicles required to traverse soft and uneven terrain. From a robotics perspective,…

In this paper, we consider the two dimensional (2-D) predecessor-following control problem for a platoon of unicycle vehicles moving on a planar surface. More specifically, we design a decentralized kinematic control protocol, in the sense…

A geometric form of Euler-Lagrange equations is developed for a chain pendulum, a serial connection of $n$ rigid links connected by spherical joints, that is attached to a rigid cart. The cart can translate in a horizontal plane acted on by…

This article is devoted to the stabilization of two underactuated planar systems, the well-known straight beam-and-ball system and an original circular beam-and-ball system. The feedback control for each system is designed, using the Jordan…

This paper studies the dynamical properties of closed-loop systems obtained from control barrier function-based safety filters. We provide a sufficient and necessary condition for the existence of undesirable equilibria and show that the…

The Wheeled Inverted Pendulum (WIP) is an underactuated, nonholonomic mechatronic system, and has been popularized commercially as the Segway. Designing a control law for motion planning, that incorporates the state and control constraints,…

This paper presents a nonlinear control law for the stabilization of a fixed-wing UAV. Such controller solves the path-following problem and the longitudinal control problem in a single control. Furthermore, the control design is performed…

This paper presents a solution to the rendezvous control problem for a network of kinematic unicycles in the plane, each equipped with an onboard camera measuring its relative displacement with respect to its neighbors in body frame…

This work proposes a solution for the longitudinal and lateral control problem of urban autonomous vehicles using a gain scheduling LPV control approach. Using the kinematic and dynamic vehicle models, a linear parameter varying (LPV)…

Autonomous vehicle control is generally divided in two main areas; trajectory planning and tracking. Currently, the trajectory planning is mostly done by particle or kinematic model-based optimization controllers. The output of these…

The optimal control problem for the kinematic bicycle model is considered where the trajectories are required to satisfy the safety constraints in the continuous-time sense. Based on the differential flatness property of the model,…

Steady state multiplicity can occur in nonlinear systems, and this presents challenges to feedback control. Input multiplicity arises when the same steady state output values can be reached with system inputs at different values. Dynamic…

In this study, we present a novel sliding mode safety-critical controller designed to address both stability and safety concerns in a class of nonlinear uncertain systems. The controller features two feedback loops: an inner loop designed…