相关论文: Servo Integrated Nonlinear Model Predictive Contro…

Direct design of a robot's rendered dynamics, such as in impedance control, is now a well-established control mode in uncertain environments. When the physical interaction port variables are not measured directly, dynamic and kinematic…

Flying quadrotors in tight formations is a challenging problem. It is known that in the near-field airflow of a quadrotor, the aerodynamic effects induced by the propellers are complex and difficult to characterize. Although machine…

This paper presents a novel model of large-size tilt-rotor aircraft, which can operate as a helicopter as well as being capable of transition to fixed-wing flight. Aerodynamics of the dynamic large-size tilt-rotors based on blade element…

This paper considers a class of rotary-wing aerial robots with unaligned propellers. By studying the dynamics of these vehicles, we show that the position and heading angle remain flat outputs of the system (similar to conventional…

Quadrotor stabilizing controllers often require careful, model-specific tuning for safe operation. We use reinforcement learning to train policies in simulation that transfer remarkably well to multiple different physical quadrotors. Our…

We propose a control protocol based on the prescribed performance control (PPC) methodology for a quadrotor unmanned aerial vehicle (UAV). Quadrotor systems belong to the class of underactuated systems for which the original PPC methodology…

This letter considers cascaded model predictive control (MPC) as a computationally lightweight method for controlling a tandem-rotor helicopter. A traditional single MPC structure is split into separate outer and inner-loops. The outer-loop…

Automating drone-assisted processes is a complex task. Many solutions rely on trajectory generation and tracking, whereas in contrast, path-following control is a particularly promising approach, offering an intuitive and natural approach…

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,…

Non-holonomic vehicles are of immense practical value and increasingly subject to automation. However, controlling them accurately, e.g., when parking, is known to be challenging for automatic control methods, including model predictive…

In this paper, a proportional-integral servo-control design method is developed for multi-input-multioutput linear time invariant systems with operational constraints imposed on the system control input and on an output of the same…

A multirate nonlinear model predictive control (NMPC) strategy is proposed for systems with dynamics and control inputs evolving on different timescales. The proposed multirate formulation of the system model and receding horizon optimal…

Tiltrotors are an aircraft concept with the ability to rotate their rotors freely, achieving vertical take-off and fast forward flight. The combination of helicopter and fixed-wing flight into one aircraft provides versatility in mission…

This paper presents an adaptive modified Robust Inverse of Signum Error (AM-RISE) control method, which achieves reliable trajectory tracking control for a quadrotor unmanned aerial vehicle. The proposed method systematically accounts for…

Recently non-linear control methods like Model Predictive Control (MPC) and Reinforcement Learning (RL) have attracted increased interest in the quadrotor control community. In contrast to classic control methods like cascaded PID…

Vehicle platooning has been shown to be quite fruitful in the transportation industry to enhance fuel economy, road throughput, and driving comfort. Model Predictive Control (MPC) is widely used in literature for platoon control to achieve…

It is challenging to model and control a tail-sitter unmanned aerial vehicle (UAV) because its blended wing body generates complicated nonlinear aerodynamic effects, such as wing lift, fuselage drag, and propeller-wing interactions. We…

Nonlinear dynamics and safety constraints typically result in a nonlinear programming problem when applying model predictive control to achieve safe output consensus. To avoid the heavy computational burden of solving a nonlinear…

This paper presents the development of a non-linear model predictive controller (MPC) for controlling variable speed hydropower (VSHP) plants. The MPC coordinates the turbine controller with the virtual synchronous generator (VSG) control…

Legged robots can traverse challenging terrain, use perception to plan their safe foothold positions, and navigate the environment. Such unique mobility capabilities make these platforms a perfect candidate for scenarios such as search and…