相关论文: Distributed Neurodynamics-Based Backstepping Optim…
Teams of Unmanned Aerial Vehicles (UAVs) form typical networked cyber-physical systems that involve the interaction of discrete logic and continuous dynamics. This paper presents a hybrid supervisory control framework for the…
Tracking position and orientation independently affords more agile maneuver for over-actuated multirotor Unmanned Aerial Vehicles (UAVs) while introducing undesired downwash effects; downwash flows generated by thrust generators may…
This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…
CAV platooning technology has received considerable attention in the past few years, driven by the next generation smart transportation systems. Unlike most of the existing platooning methods that focus on linear vehicle dynamics of CAVs,…
Unmanned aerial vehicles (UAVs) suffer from sensor drifts in GPS denied environments, which can cause safety issues. To avoid intolerable sensor drifts while completing the time-critical coordination task for multi-UAV systems, we propose a…
This work is devoted to generating optimal guidance commands in real time for attitude-constrained solar sailcrafts in coplanar circular-to-circular interplanetary transfers. Firstly, a nonlinear optimal control problem is established, and…
Coordinated multi-robot navigation is essential for robots to operate as a team in diverse environments. During navigation, robot teams usually need to maintain specific formations, such as circular formations to protect human teammates at…
This Technical Note presents a simple control approach for global trajectory tracking and formation control of underactuated surface vessels equipped with only two propellers. The control approach exploits the inherent cascaded structure of…
The operation of an autonomous underwater vehicle (AUV) faces challenges in following predetermined waypoints due to coupled motions under environmental disturbances. To address this, a 3D path following guidance and control system is…
This paper presents a data-driven optimal control policy for a micro flapping wing unmanned aerial vehicle. First, a set of optimal trajectories are computed off-line based on a geometric formulation of dynamics that captures the nonlinear…
This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace involving static obstacles. We propose a Nonlinear Model Predictive Control (NMPC)…
In this paper, we present a distributed optimal multiagent control scheme for quadrotor formation tracking under localization errors. Our control architecture is based on a leader-follower approach, where a single leader quadrotor tracks a…
Formation and collision avoidance abilities are essential for multi-agent systems. Conventional methods usually require a central controller and global information to achieve collaboration, which is impractical in an unknown environment. In…
The aim of this paper is to propose a high performance control approach for trajectory tracking of Autonomous Underwater Vehicles (AUVs). However, the controller performance can be affected by the unknown perturbations including model…
Trajectory optimization and model predictive control are essential techniques underpinning advanced robotic applications, ranging from autonomous driving to full-body humanoid control. State-of-the-art algorithms have focused on data-driven…
Unmanned Aerial Vehicles (UAVs) have attracted great interest in the last few years owing to their ability to cover large areas and access difficult and hazardous target zones, which is not the case of traditional systems relying on direct…
We present a novel control strategy for a team of unmanned aerial vehicles (UAVs) to autonomously achieve a desired formation using only visual feedback provided by the UAV's onboard cameras. This effectively eliminates the need for global…
This study presents autonomous guidance and control strategies for the purpose of reconfiguring close-range multi-satellite formations. The formation under consideration includes $N$ under-actuated deputy satellites and an uncontrolled…
This paper describes a reflexive multilayered mission planner with a mounted energy efficient local path planner for Unmanned Underwater Vehicle's (UUV) navigation throughout the complex subsea volume in a time-variant semi-dynamic…
Presented study introduces a novel distributed cloud-edge framework for autonomous multi-UAV systems that combines the computational efficiency of neuromorphic computing with nature-inspired control strategies. The proposed architecture…