相关论文: Trajectory Generation and Tracking Control for Agg…

Existing works on control of tractor-trailers systems only consider the kinematics model without taking dynamics into account. Also, most of them treat the issue as a pure control theory problem whose solutions are difficult to implement.…

We consider joint trajectory generation and tracking control for under-actuated robotic systems. A common solution is to use a layered control architecture, where the top layer uses a simplified model of system dynamics for trajectory…

Learning-based control techniques use data from past trajectories to control systems with uncertain dynamics. However, learning-based controllers are often computationally inefficient, limiting their practicality. To address this…

This paper introduces a trajectory planning algorithm for search and coverage missions with an Unmanned Aerial Vehicle (UAV) based on an uncertainty map that represents prior knowledge of the target region, modeled by a Gaussian Mixture…

In recent years, there has been a notable evolution in various multidisciplinary design methodologies for dynamic systems. Among these approaches, a noteworthy concept is that of concurrent conceptual and control design or co-design. This…

In this paper we provide an optimal control based strategy to explore feasible trajectories of nonlinear systems, that is to find curves that satisfy the dynamics as well as point-wise state-input constraints. The strategy is interesting…

This paper presents a controller for the transition maneuver of a tail-sitter drone. The tail-sitter model considers aerodynamic terms whereas the proposed controller considers the time-scale separation between drone attitude and position…

The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great…

In this paper we present a maneuver regulation scheme for Vertical Take-Off and Landing (VTOL) micro aerial vehicles (MAV). Differently from standard trajectory tracking, maneuver regulation has an intrinsic robustness due to the fact that…

This paper presents an optimal trajectory generation method for 3D overhead cranes by leveraging differential flatness. This framework enables the direct inclusion of complex physical and dynamic constraints, such as nonlinear friction and…

In this work, we propose a trajectory generation method for robotic systems with contact force constraint based on optimal control and reachability analysis. Normally, the dynamics and constraints of the contact-constrained robot are…

Trajectory planning and control have historically been separated into two modules in automated driving stacks. Trajectory planning focuses on higher-level tasks like avoiding obstacles and staying on the road surface, whereas the controller…

In this paper, we present a methodology for constructing data-driven maneuver generation models for agile aircraft that can generalize across a wide range of trim conditions and aircraft model parameters. Maneuver generation models play a…

[Accepted to IROS 2025] In this paper, we address the problem of tracking high-speed agile trajectories for Unmanned Aerial Vehicles(UAVs), where model inaccuracies can lead to large tracking errors. Existing Nonlinear Model Predictive…

The spacecraft attitude tracking problem is addressed with actuator faults and uncertainties among inertias, external disturbances, and, in particular, state estimates. A continuous sliding mode attitude controller is designed using…

Overactuated omnidirectional flying vehicles are capable of generating force and torque in any direction, which is important for applications such as contact-based industrial inspection. This comes at the price of an increase in model…

As we move to increasingly complex cyber-physical systems (CPS), new approaches are needed to plan efficient state trajectories in real-time. In this paper, we propose an approach to significantly reduce the complexity of solving optimal…

In normal on-road situations, autonomous vehicles will be expected to have smooth trajectories with relatively little demand on the vehicle dynamics to ensure passenger comfort and driving safety. However, the occurrence of unexpected…

This paper presents an algorithm for solving the problem of tracking smooth curves by a fixed wing unmanned aerial vehicle travelling with a constant airspeed and under a constant wind disturbance. The algorithm is based on the idea of…

To improve safety and energy efficiency, autonomous vehicles are expected to drive smoothly in most situations, while maintaining their velocity below a predetermined speed limit. However, some scenarios such as low road adherence or…