相关论文: Singular Zone in Quadrotor Yaw-Position Feedback L…
It has been known in the robotics literature since about 1995 that, in polar coordinates, the nonholonomic unicycle is asymptotically stabilizable by smooth feedback, even globally. We introduce a modular design framework that selects the…
This paper deals with the output feedback stabilization problem of nonlinear multi-input multi-output systems having an uncertain input gain matrix. It is assumed that the system has a well-defined vector relative degree and that the zero…
Control laws for continuous-time dynamical systems are most often implemented via digital controllers using a sample-and-hold technique. Numerical discretization of the continuous system is an integral part of subsequent analysis. Feedback…
The linearization method builds a bridge from mature methods for linear systems to nonlinear systems and has been widely used in various areas. There are currently two main linearization methods: Jacobian linearization and feedback…
Quadrotors have demonstrated remarkable versatility, yet their full aerobatic potential remains largely untapped due to inherent underactuation and the complexity of aggressive maneuvers. Traditional approaches, separating trajectory…
The previously introduced aerial manipulation systems suffer from either limited end-effector DOF or small payload capacity. In this dissertation, a quadrotor with a 2-DOF manipulator is investigated that has a unique topology to enable the…
Consider the problem of covertly controlling a linear system. In this problem, Alice desires to control (stabilize or change the behavior of) a linear system, while keeping an observer, Willie, unable to decide if the system is indeed being…
This paper studies exact linearization methods for stochastic SISO affine controlled dynamical systems. The systems are defined as vectorfield triplets in Euclidean space. The goal is to find, for a given nonlinear stochastic system, a…
The convergence of policy gradient algorithms in reinforcement learning hinges on the optimization landscape of the underlying optimal control problem. Theoretical insights into these algorithms can often be acquired from analyzing those of…
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…
For linear control systems with bounded control range, chain controllability properties are analyzed. It is shown that there exists a unique chain control set and that it equals the sum of the control set around the origin and the center…
In this paper, we consider the inverse optimal control problem for the discrete-time linear quadratic regulator, over finite-time horizons. Given observations of the optimal trajectories, and optimal control inputs, to a linear…
In this paper, we investigate a continuous-time linear quadratic control problem for systems with unknown matrices, where only input-output data are available. We propose an output-feedback learning framework based on a canonical nonminimal…
In the article the problem of output setpoint tracking for affine non-linear system is considered. Presented approach combines state feedback linearization and homotopy numerical continuation in subspaces of phase space where feedback…
Robust global stabilization of nonlinear systems by observer-based feedback controllers is a challenging task. This article investigates the problem of designing observer-based stabilizing controllers for incrementally quadratic nonlinear…
This article presents a unified approach to quadratic optimal control for both linear and nonlinear discrete-time systems, with a focus on trajectory tracking. The control strategy is based on minimizing a quadratic cost function that…
We consider the problem of discounted optimal state-feedback regulation for general unknown deterministic discrete-time systems. It is well known that open-loop instability of systems, non-quadratic cost functions and complex nonlinear…
Flying quadrotors in tight formations is a challenging problem. It is known that in the near-field airflow of a quadrotor, the aerodynamic effects induced by the propellers are complex and difficult to characterize. Although machine…
Ability to recover from faults and continue mission is desirable for many quadrotor applications. The quadrotor's rotor may fail while performing a mission and it is essential to develop recovery strategies so that the vehicle is not…
Much of the structure of cosmological correlators is controlled by their singularities, which in turn are fixed in terms of flat-space scattering amplitudes. An important challenge is to interpolate between the singular limits to determine…