相关论文: Online Learning and Control for Data-Augmented Qua…

This paper introduces an adaptive-neuro identification method that enhances the robustness of a centralized multi-quadrotor transportation system. This method leverages online tuning and learning on decomposed error subspaces, enabling…

Model predictive control has emerged as an effective approach for real-time optimal control of connected and automated vehicles. However, nonlinear dynamics of vehicle and traffic systems make accurate modeling and real-time optimization…

Stable gait generation is a crucial problem for legged robot locomotion as this impacts other critical performance factors such as, e.g. mobility over an uneven terrain and power consumption. Gait generation stability results from the…

For the application of MPC design in on-line regulation or tracking control problems, several studies have attempted to develop an accurate model, and realize adequate uncertainty description of linear or non-linear plants of the processes.…

Autonomous racing creates challenging control problems, but Model Predictive Control (MPC) has made promising steps toward solving both the minimum lap-time problem and head-to-head racing. Yet, accurate models of the system are necessary…

A key challenge with controlling complex dynamical systems is to accurately model them. However, this requirement is very hard to satisfy in practice. Data-driven approaches such as Gaussian processes (GPs) have proved quite effective by…

This paper presents a novel model predictive control (MPC) approach for autonomous pick-and-place between moving platforms with a hook-equipped aerial manipulator. First, for accurate and rapid modeling of the complex dynamics, a digital…

With quadrotor use seeing extensive growth in recent years, the autonomous control of these Unmanned Aerial Vehicles (UAVs) is an increasing relevant and intersting field. In this paper a linear state-space approach at designing a stable…

This paper presents Residual Koopman MPC (RK-MPC), a Koopman-based, data-driven model predictive control framework for quadruped locomotion that improves prediction fidelity while preserving real-time tractability. RK-MPC augments a nominal…

Controller performance in quadrotor trajectory tracking depends heavily on parameter tuning, yet standard approaches often rely on fixed, manually tuned parameters that sacrifice task-specific performance. We present Trajectory-Aware…

This paper proposes a model predictive trajectory tracking approach for quadrotors subject to input constraints. Our proposed approach relies on a hierarchical control strategy with an outer-loop feedback generating the required thrust and…

We propose a learning-based trajectory tracking controller for autonomous robotic platforms whose motion can be described kinematically on $\mathrm{SE}(3)$. The controller is formulated in the dual quaternion framework and operates at the…

Data-driven control methods based on subspace representations are powerful but are often limited to linear time-invariant systems where the model order is known. A key challenge is developing online data-driven control algorithms for…

Model-reference adaptive systems refer to a consortium of techniques that guide plants to track desired reference trajectories. Approaches based on theories like Lyapunov, sliding surfaces, and backstepping are typically employed to advise…

This paper presents a centralized predictive cost adaptive control (PCAC) strategy for the position and attitude control of quadrotors. PCAC is an optimal, prediction-based control method that uses recursive least squares (RLS) to identify…

This paper presents a learning-based tracking control framework for cooperative transport of a rigid payload by multiple aerial manipulators under rigid grasp constraints. A unified geometric model is developed, yielding a coupled…

This paper proposes a novel framework for addressing the challenge of autonomous overtaking and obstacle avoidance, which incorporates the overtaking path planning into Gaussian Process-based model predictive control (GPMPC). Compared with…

Traversing narrow gates presents a significant challenge and has become a standard benchmark for evaluating agile and precise quadrotor flight. Traditional modularized autonomous flight stacks require extensive design and parameter tuning,…

Despite the success of Gaussian process based Model Predictive Control (MPC) in robotic control, its applicability scope is greatly hindered by multimodal disturbances that are prevalent in real-world settings. Here we propose a novel…

Learning control policies in simulation enables rapid, safe, and cost-effective development of advanced robotic capabilities. However, transferring these policies to the real world remains difficult due to the sim-to-real gap, where…