相关论文: Visual Tracking Nonlinear Model Predictive Control…

Target tracking has numerous significant civilian and military applications, and maintaining the visibility of the target plays a vital role in ensuring the success of the tracking task. Existing visibility-aware planners primarily focus on…

There are many situations for which an unmanned ground vehicle has to work with only partial observability of the environment. Therefore, a feasible nonholonomic obstacle avoidance and target tracking action must be generated immediately…

We present a numerically efficient Nonlinear Model Predictive Control (NMPC) approach, called Set Membership based NMPC (SM-NMPC). In particular, a Set Membership method is used to derive from data an approximation and tight bounds on the…

The mechanical simplicity, hover capabilities, and high agility of quadrotors lead to a fast adaption in the industry for inspection, exploration, and urban aerial mobility. On the other hand, the unstable and underactuated dynamics of…

A new strategy is proposed to control interior permanent magnet generators in dc microgrids interfaced through an active rectifier. The controller design is based on the decomposition of the system dynamics into slow and fast modes using…

This paper introduces a control architecture for real-time and onboard control of Unmanned Aerial Vehicles (UAVs) in environments with obstacles using the Model Predictive Path Integral (MPPI) methodology. MPPI allows the use of the full…

This paper presents a novel robust predictive controller for constrained nonlinear systems that is able to track piece-wise constant setpoint signals. The tracking model predictive controller presented in this paper extends the nonlinear…

Motion Cueing Algorithms (MCAs) encode the movement of simulated vehicles into movement that can be reproduced with a motion simulator to provide a realistic driving experience within the capabilities of the machine. This paper introduces a…

Though larger vessels may be well-equipped to deal with wavy conditions, smaller vessels are often more susceptible to disturbances. This paper explores the development of a nonlinear model predictive control (NMPC) system for Uncrewed…

This paper introduces a neural Nonlinear Model Predictive Control (NMPC) framework for mapless, collision-free navigation in unknown environments with Aerial Robots, using onboard range sensing. We leverage deep neural networks to encode a…

This paper presents an aggressive trajectory tracking method for a small lightweight nano-quadrotor using nonlinear model predictive control (NMPC) based on acados. Controlling a nano quadrotor for accurate trajectory tracking at high speed…

Being motivated by ceiling inspection applications via unmanned aerial vehicles (UAVs) which require close proximity flight to surfaces, a systematic control approach enabling safe and accurate close proximity flight is proposed in this…

The recent advancement in vehicular networking technology provides novel solutions for designing intelligent and sustainable vehicle motion controllers. This work addresses a car-following task, where the feedback linearisation method is…

Nonlinear Model Predictive Control (NMPC) is a general and flexible control approach, used in many industrial contexts, and is based on the online solution of a nonlinear optimization problem. This operation requires in general a high…

Nonlinear Robust Model Predictive Control (RMPC) provides a very promising solution to the problem of automatic emergency maneuvering, which is capable of handling multiple possibly conflicting objectives of robustness and performance. Even…

To enable safe and effective human-robot collaboration (HRC) in smart manufacturing, seamless integration of sensing, cognition, and prediction into the robot controller is critical for real-time awareness, response, and communication…

Off-road driving operations can be a challenging environment for human conductors as they are subject to accidents, repetitive and tedious tasks, strong vibrations, which may affect their health in the long term. Therefore, they can benefit…

Fleets of unmanned robots can be beneficial for the long-term monitoring of large areas, e.g., to monitor wild flocks, detect intruders, search and rescue. Monitoring numerous dynamic targets in a collaborative and efficient way is a…

Wind turbines are subjected to continuous rotational stresses and unusual external forces such as storms, lightning, strikes by flying objects, etc., which may cause defects in turbine blades. Hence, it requires a periodical inspection to…

As a crucial robotic perception capability, visual tracking has been intensively studied recently. In the real-world scenarios, the onboard processing time of the image streams inevitably leads to a discrepancy between the tracking results…