相关论文: SO(3) attitude controllers and the alignment of ro…

This paper proposes two novel nonlinear attitude filters evolved directly on the Special Orthogonal Group SO(3) able to ensure prescribed measures of transient and steady-state performance. The tracking performance of the normalized…

Humans have the remarkable ability to use held objects as tools to interact with their environment. For this to occur, humans internally estimate how hand movements affect the object's movement. We wish to endow robots with this capability.…

In real-world robotics applications, accurate models of robot dynamics are critical for safe and stable control in rapidly changing operational conditions. This motivates the use of machine learning techniques to approximate robot dynamics…

Optimal control problems are formulated and efficient computational procedures are proposed for attitude dynamics of a rigid body with symmetry. The rigid body is assumed to act under a gravitational potential and under a structured control…

This work proposes a nonlinear stochastic filter evolved on the Special Orthogonal Group SO(3) as a solution to the attitude filtering problem. One of the most common potential functions for nonlinear deterministic attitude observers is…

Many robotic control tasks require policies to act on orientations, yet the geometry of SO(3) makes this nontrivial. Because SO(3) admits no global, smooth, minimal parameterization, common representations such as Euler angles, quaternions,…

We consider the problem of attitude tracking for small-scale aerobatic helicopters. A small scale helicopter has two subsystems: the fuselage, modeled as a rigid body; and the rotor, modeled as a first order system. Due to the coupling…

This paper presents hybrid attitude and gyro-bias observers designed directly on the Special Orthogonal group SO(3). The proposed hybrid observers, enjoying global exponential stability, rely on a hysteresis-based switching between…

In this paper a geometric approach to the trajectory tracking control of Unmanned Aerial Vehicles with thrust vectoring capabilities is proposed. The control design is suitable for aerial systems that allow to effectively decouple position…

Many robotic systems allow independent control of position and orientation (pose), including omnidirectional aerial vehicles, underwater robots, and manipulator end-effectors. In many applications, these systems must follow a continuous…

The problem of regulation of the orientation angle of a remotely controlled differential-drive mobile robot with actuator dynamics and network-induced delays is studied. Using a preinstalled two-layer nonlinear control scheme that decouples…

This paper introduces a novel attitude controller for spacecraft subject to actuator saturation and multiple exclusion cone constraints. The proposed solution relies on a two-layer approach where the first layer prestabilizes the system…

In this paper, we present a hybrid position/force controller for operating joint robots. The hybrid controller has two goals -- motion tracking and force regulating. As long as these two goals are not mutually exclusive, they can be…

This paper proposes a novel model-based policy gradient algorithm for tracking dynamic targets using a mobile robot, equipped with an onboard sensor with limited field of view. The task is to obtain a continuous control policy for the…

This paper presents a novel passivity-based semi-autonomous attitude control framework, with a particular focus on attitude kinematics defined on the special orthogonal group $SO(3)$. While human-robot interaction facilitates the successful…

After its introduction, impedance control has been utilized as a primary control scheme for robotic manipulation tasks that involve interaction with unknown environments. While impedance control has been extensively studied, the geometric…

This paper presents decentralized algorithms for formation control of multiple robots in three dimensions. Specifically, we leverage the mathematical properties of cyclic pursuit along with results from contraction and partial contraction…

The attitude of a rigid-body in the three dimensional space has a unique and global definition on the Special Orthogonal Group SO (3). This paper gives an overview of the rotation matrix, attitude kinematics and parameterization. The four…

A spherical robot consists of an externally spherical rigid body rolling on a two-dimensional surface, actuated by an auxiliary mechanism. For a class of actuation mechanisms, we derive a controller for the geometric center of the sphere to…

This paper presents tracking control laws for two different objectives of a nonholonomic system - a spherical robot - using a geometric approach. The first control law addresses orientation tracking using a modified trace potential…