相关论文: A hybrid dynamical system approach to the impulsiv…
This work presents a robust Model Predictive Controller (MPC) to solve the problem of spacecraft rendezvous in the context of the restricted three-body problem (R3BP) as will be required to dock with space stations in cislunar space. The…
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…
A dynamic backstepping method is proposed to design controllers for nonlinear systems in the pure-feedback form, for which the traditional backstepping method suffers from solving the implicit nonlinear algebraic equation. The idea of this…
While many techniques have been developed for chance constrained stochastic optimal control with Gaussian disturbance processes, far less is known about computationally efficient methods to handle non-Gaussian processes. In this paper, we…
In this paper, we present a framework for solving continuous optimal control problems when the true system dynamics are approximated through an imperfect model. We derive a control strategy by applying Pontryagin's Minimum Principle to the…
This paper presents a computationally efficient optimization algorithm for solving nonconvex optimal control problems that involve discrete logic constraints. Traditional solution methods for these constraints require binary variables and…
Assuring safety in discrete time stochastic hybrid systems is particularly difficult when only noisy or incomplete observations of the state are available. We first review a formulation of the probabilistic safety problem under noisy hybrid…
In this paper, we study the problem of hybrid event-triggered control for a class of nonlinear time-delay systems. Using a Razumikhin-type input-to-state stability result for time-delay systems, we design an event-triggered control…
This paper presents a solution to the rendezvous control problem for a network of kinematic unicycles in the plane, each equipped with an onboard camera measuring its relative displacement with respect to its neighbors in body frame…
This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…
Hybrid dynamical systems are systems which posses both continuous and discrete transitions. Assuming that the discrete transitions (resets) occur a finite number of times, the optimal control problem can be solved by gluing together the…
This work proposes a framework for Cooperative Adaptive Cruise Control of a vehicular platoon characterized by unidirectional communication and heterogeneous parameters. In the proposed framework, the actual (heterogeneous) platoon is made…
Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the…
Achieving highly dynamic behaviors on humanoid robots, such as running, requires controllers that are both robust and precise, and hence difficult to design. Classical control methods offer valuable insight into how such systems can…
This work presents the first closed-loop control framework for cooperative payload transportation with non-stopping flying carriers. The proposed method includes a feedback wrench-controller that actively regulates the load's pose by…
This work presents three computational methods for real time energy management in a hybrid hydraulic vehicle (HHV) when driver behavior and vehicle route are not known in advance. These methods, implemented in a receding horizon control…
Lyapunov stability of a mechanical system means that the dynamic response stays bounded in an arbitrarily small neighborhood of a static equilibrium configuration under small perturbations in positions and velocities. This type of stability…
Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, the control of them is very challenging given their intrinsic…
Hybrid dynamical systems with nonlinear dynamics are one of the most general modeling tools for representing robotic systems, especially contact-rich systems. However, providing guarantees regarding the safety or performance of nonlinear…
This paper proposes an adaptive human pilot model that is able to mimic the crossover model in the presence of uncertainties. The proposed structure is based on the model reference adaptive control, and the adaptive laws are obtained using…