相关论文: An Adaptive PID Autotuner for Multicopters with Ex…

Modern automated driving solutions utilize trajectory planning and control components with numerous parameters that need to be tuned for different driving situations and vehicle types to achieve optimal performance. This paper proposes a…

This paper presents a framework for controlled emergency landing of a quadcopter, experiencing a rotor failure, away from sensitive areas. A complete mathematical model capturing the dynamics of the system is presented that takes the…

Autonomous vehicle platoons present near- and long-term opportunities to enhance operational efficiencies and save lives. The past 30 years have seen rapid development in the autonomous driving space, enabling new technologies that will…

First-order reinforcement learning with differentiable simulation is promising for quadrotor control, but practical progress remains fragmented across task-specific settings. To support more systematic development and evaluation, we present…

With the development of autonomous driving technology, there are increasing demands for vehicle control, and MPC has become a widely researched topic in both industry and academia. Existing MPC control methods based on vehicle kinematics or…

This paper formally develops a novel hierarchical planning and control framework for robust payload transportation by quadrupedal robots, integrating a model predictive control (MPC) algorithm with a gradient-descent-based adaptive updating…

This paper presents the development of a sliding mode controller using the backstepping approach. The controller is employed to synthesize tracking errors and Lyapunov functions. A novel state-space representation is formulated by…

A major challenge in autonomous flights is unknown disturbances, which can jeopardize safety and lead to collisions, especially in obstacle-rich environments. This paper presents a disturbance-aware motion planning and control framework…

In this paper, a reconfigurable control scheme for a generalized class of multicopters is presented to overcome single or multiple rotor failures. In a multicopter, the rotor failure heavily affects its dynamics and thus its…

Automated vehicles are gradually entering people's daily life to provide a comfortable driving experience for the users. The generic and user-agnostic automated vehicles have limited ability to accommodate the different driving styles of…

Automating drone-assisted processes is a complex task. Many solutions rely on trajectory generation and tracking, whereas in contrast, path-following control is a particularly promising approach, offering an intuitive and natural approach…

Recently, needs for unmanned aerial vehicles (UAVs) that are attachable to the wall have been highlighted. As one of the ways to address the need, researches on various tilting multirotors that can increase maneuverability has been…

Practical adaptive control implementations where human pilots coexist in the loop are still uncommon, despite their success in handling uncertain dynamical systems. This is owing to their special nonlinear characteristics which lead to…

Autonomous drone racing has risen as a challenging robotic benchmark for testing the limits of learning, perception, planning, and control. Expert human pilots are able to fly a drone through a race track by mapping pixels from a single…

Multilinked aerial robot is one of the state-of-the-art works in aerial robotics, which demonstrates the deformability benefiting both maneuvering and manipulation. However, the performance in outdoor physical world has not yet been…

This paper describes the design process for developing a nonlinear model predictive controller for fault tolerant flight control. After examining and implementing a number of numerical techniques, this paper identifies pseudospectral…

This paper presents the design, implementation, and flight test results of linear quadratic integral regulator (LQRi) based attitude control for a quadcopter UAV. We present the derivation of the mathematical model for the kinematics and…

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…

Proportional-integral-derivative (PID) control underlies more than $97\%$ of automated industrial processes. Controlling these processes effectively with respect to some specified set of performance goals requires finding an optimal set of…

The alternating direction method of multipliers (ADMM) is commonly used for distributed model fitting problems, but its performance and reliability depend strongly on user-defined penalty parameters. We study distributed ADMM methods that…