相关论文: Advanced Feedback Linearization Control for Tiltro…
This paper proposes new algorithms for attitude estimation and control based on fused inertial vector measurements using linear complementary filters principle. First, n-order direct and passive complementary filters combined with TRIAD…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
In this paper, we introduce a translational force control method with disturbance observer (DOB)-based force disturbance cancellation for precise three-dimensional acceleration control of a multi-rotor UAV. The acceleration control of the…
We present a switching scheme, which uses both the attitude-error quaternion (AEQ) and the angular-velocity error, for controlling the rotational degrees of freedom of an uncrewed aerial vehicle (UAV) during flight. In this approach, the…
We study a trajectory tracking problem for a multi-rotor in the presence of modeling error and external disturbances. The desired trajectory is unknown and generated from a reference system with unknown or partially known dynamics. We…
We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…
Tailsitter aircraft attract considerable interest due to their capabilities of both agile hover and high speed forward flight. However, traditional tailsitters that use aerodynamic control surfaces face the challenge of limited control…
This paper proposes an adaptive tracking strategy with mass-inertia estimation for aerial transportation problems of multi-rotor UAVs. The dynamic model of multi-rotor UAVs with disturbances is firstly developed with a linearly…
We demonstrate that time-delayed feedback control can be improved by adaptively tuning the feedback gain. This adaptive controller is applied to the stabilization of an unstable fixed point and an unstable periodic orbit embedded in a…
Modeling the kinematics and dynamics of robotics systems with suspended loads using dual quaternions has not been explored so far. This paper introduces a new innovative control strategy using dual quaternions for UAVs with cable-suspended…
This paper presents a novel Lagrangian approach to attitude tracking for rigid spacecraft using unit quaternions, where the motion equations of a spacecraft are described by a four degrees of freedom Lagrangian dynamics subject to a…
The paper presents an approach to the construction of stabilizing feedback for strongly nonlinear systems. The class of systems of interest includes systems with drift which are affine in control and which cannot be stabilized by continuous…
The safety and security of robotic systems are paramount when navigating around a hostile target. This paper addresses the problem of circumnavigating an unknown target by a unicycle robot while ensuring it maintains a desired safe distance…
In this paper, we consider the problem of platooning control with mismatched disturbances using the distributed adaptive backstepping method. The main challenges are: (1) maintaining the compositionality and the distributed nature of the…
Robust output tracking is addressed in this paper for a heat equation with Neumann boundary conditions and anti-collocated boundary input and output. The desired reference tracking is solved using the well-known flatness and Lyapunov…
Motivated by recent applications in control theory, we study the feedback stabilizability of switched systems, where one is allowed to chose the switching signal as a function of $x(t)$ in order to stabilize the system. We propose new…
Many methods exist for a bipedal robot to keep its balance while walking. In addition to step size and timing, other strategies are possible that influence the stability of the robot without interfering with the target direction and speed…
The general objective of this Ph.D. thesis is to study the dynamics and control of rigid and flexible spacecraft supported by a high-fidelity numerical simulation environment. The demand for greater attitude pointing precision, attitude…
This paper addresses the challenging problem of robust path-following for fixed-wing unmanned aerial vehicles (UAVs) in complex environments with bounded external disturbances and non-smooth predefined paths. Due to the unique aerodynamic…
Learning-based methods are powerful in handling complex scenarios. However, it is still challenging to use learning-based methods under uncertain environments while stability, safety, and real-time performance of the system are desired to…