相关论文: Delayed resilient trajectory tracking after partia…

The feedback linearization method is further developed for the controller design on general nonlinear systems. Through the Lyapunov stability theory, the intractable nonlinear implicit algebraic control equations are effectively solved, and…

This paper deals with the impulsive formation control of spacecraft in the presence of constraints on the position vector and time. Determining a set of path constraints can increase the safety and reliability in an impulsive relative…

Path following and lateral stability are crucial issues for autonomous vehicles. Moreover, these problems increase in complexity when handling articulated heavy-duty vehicles due to their poor manoeuvrability, large sizes and mass…

In this paper, we consider the tracking control problem for robot manipulators which are affected by constant bounded disturbances. Three control schemes are applied for the problem, which composed of integral action and tracking…

When intelligent spacecraft or space robots perform tasks in a complex environment, the controllable variables are usually not directly available and have to be inferred from high-dimensional observable variables, such as outputs of neural…

This paper addresses the global exponential attitude tracking of a spacecraft when gyro measurements are corrupted by bias. Based on contraction analysis, an exponentially convergent nonlinear observer is designed first to estimate the gyro…

With the rapid growth of autonomous vehicle technologies, effective path-tracking control has become a critical component in ensuring safety and efficiency in complex traffic scenarios. When a high level decision making agent generates a…

In this paper, a dynamic-programming approach to the coupled translational and rotational control of thruster-driven spacecraft is studied. To reduce the complexity of the problem, dynamic-programming-based optimal policies are calculated…

We present a framework to control and track the observables of a general solid state system driven by an incident laser field. The main result is a non-linear equation of motion for tracking an observable, together with a constraint on the…

Closed-loop attitude steering can be used to implement a non-standard attitude maneuver by using a conventional attitude control system to track a non-standard attitude profile. The idea has been employed to perform zero-propellant…

Robotic laparoscopic grasper is a surgical tool with minimal invasion. In this robot, achieve goals like precise tracking, stability and disturbance rejection are very important. In this paper, first the stages of modeling and simulating of…

This paper addresses the distributed attitude synchronization problem of multiple spacecraft with unknown inertia matrices. Two distributed adaptive controllers are proposed for the cases with and without a virtual leader to which a…

A robust controller is developed for uncertain, second-order nonlinear systems subject to simultaneous unknown, time-varying state delays and known, time-varying input delays in addition to additive, sufficiently smooth disturbances. An…

Delays and data losses are undesirable from a control system perspective as they tend to adversely affect performance Networked Control Systems (NCSs) are a class of control systems wherein control components exchange information using a…

This paper focuses on optimal mismatched disturbance rejection control for linear continuoustime uncontrollable systems. Different from previous studies, by introducing a new quadratic performance index to transform the mismatched…

This paper presents a computationally efficient robust model predictive control law for discrete linear time invariant systems subject to additive disturbances that may depend on the state and/or input norms. Despite the dependency being…

We describe a framework for changing-contact robot manipulation tasks that require the robot to make and break contacts with objects and surfaces. The discontinuous interaction dynamics of such tasks make it difficult to construct and use a…

This paper presents an approach to trajectory-centric learning control based on contraction metrics and disturbance estimation for nonlinear systems subject to matched uncertainties. The approach uses deep neural networks to learn uncertain…

We detail in this article the necessity of a change of paradigm for the delay-robust control of systems composed of two linear first order hyperbolic equations. One must go back to the classical trade-off between convergence rate and…

Space robotics applications, such as Active Space Debris Removal (ASDR), require representative testing before launch. A commonly used approach to emulate the microgravity environment in space is air-bearing based platforms on flat-floors,…