相关论文: Singular Zone in Quadrotor Yaw-Position Feedback L…

This paper considers a class of bilinear systems with a neural network in the loop. These arise naturally when employing machine learning techniques to approximate general, non-affine in the input, control systems. We propose a controller…

A methodology is developed to learn a feedback linearization (i.e., nonlinear change of coordinates and input transformation) using a data-driven approach for a single input control-affine nonlinear system with unknown dynamics. We employ…

The control of a quadrotor is typically split into two subsequent problems: finding desired accelerations to control its position, and controlling its attitude and the total thrust to track these accelerations and to track a yaw angle…

With the increase in complexity of robotic systems and the rise in non-expert users, it can be assumed that task constraints are not explicitly known. In tasks where avoiding singularity is critical to its success, this paper provides an…

Among the tilt-rotors (quadrotors) developed in the last decades, Rylls model with eight inputs (four magnitudes of the thrusts and four tilting angles) attracted great attention. Typical feedback linearization maneuvers all the eight…

Data-driven control has gained significant attention in recent years, particularly regarding feedback linearization of nonlinear systems. However, existing approaches face limitations when it comes to implementing them on hardware. The main…

The textbook Newton's iteration is practically inapplicable on solutions of nonlinear systems with singular Jacobians. By a simple modification, a novel extension of Newton's iteration regains its local quadratic convergence toward…

Singularities arise in diverse disciplines and play a key role in both exploring fundamental laws of physics and making highly-sensitive sensors. Higher-order (>3) singularities, with further improved performance, however, usually require…

An optimal control problem with an infinite horizon quadratic cost functional for a linear system with a known additive disturbance is considered. The feature of this problem is that a weight matrix of the control cost in the cost…

Nonlinear underactuated systems such as two-wheeled inverted pendulums (TWIPs) exhibit a limited region of attraction (RoA), which defines the set of initial conditions from which the closed-loop system converges to the equilibrium. The RoA…

This letter proposes a method to integrate auxiliary actuators that enhance the task space capabilities of commercial underactuated systems, leaving the internal certified low level controller untouched. The additional actuators are…

A new systematic approach to the construction of approximate solutions to a class of nonlinear singularly perturbed feedback control systems using the boundary layer functions especially with regard to the possible occurrence of the…

We propose a general strategy for feedback control design of complex dynamical systems exploiting the nonlinear mechanisms in a systematic unsupervised manner. These dynamical systems can have a state space of arbitrary dimension with…

This work proposes a quaternion-based sliding variable that describes exponentially convergent error dynamics for any forward complete desired attitude trajectory. The proposed sliding variable directly operates on the non-Euclidean space…

This paper discusses the systematic design of an adaptive feedback linearizing neurocontroller for a high-order model of the synchronous machine/infinite bus power system. The power system is first modelled as an input-output nonlinear…

This paper proposes a framework for adaptively learning a feedback linearization-based tracking controller for an unknown system using discrete-time model-free policy-gradient parameter update rules. The primary advantage of the scheme over…

The paper addresses the exact linearization of flat nonlinear discrete-time systems by generalized static or dynamic feedbacks which may also depend on forward-shifts of the new input. We first investigate the question which forward-shifts…

Various studies on perception-aware planning have been proposed to enhance the state estimation accuracy of quadrotors in visually degraded environments. However, many existing methods heavily rely on prior environmental knowledge and face…

This paper presents a velocity-free position control strategy for quadrotor unmanned aerial vehicles based on nonlinear negative imaginary (NNI) systems theory. Unlike conventional position control schemes that require velocity measurements…

This paper addresses the problem of robust control of a linear discrete-time system subject to bounded disturbances and to measurement and control budget constraints. Using Q-parameterization and a polytope containment method, we prove that…