相关论文: Trajectory Tracking for UAVs: An Interpolating Con…

Correlation filter (CF)-based methods have demonstrated exceptional performance in visual object tracking for unmanned aerial vehicle (UAV) applications, but suffer from the undesirable boundary effect. To solve this issue, spatially…

In this letter, we propose an airborne maneuverable bi-static integrated sensing and communication system where both the transmitter and receiver are unmanned aerial vehicles. By timely forming a dynamic bi-static range based on the motion…

In this paper we present a model-based control approach for autonomous flight of kites for wind power generation. Predictive models are considered to compensate for delay in the kite dynamics. We apply Model Predictive Control (MPC), with…

In this paper, we investigate the problem of coordinated path following for fixed-wing UAVs with speed constraints in 2D plane. The objective is to steer a fleet of UAVs along the path(s) while achieving the desired sequenced inter-UAV arc…

Controller performance in quadrotor trajectory tracking depends heavily on parameter tuning, yet standard approaches often rely on fixed, manually tuned parameters that sacrifice task-specific performance. We present Trajectory-Aware…

This work studies the standoff tracking problem to drive an unmanned aerial vehicle (UAV) to slide on a desired circle over a moving target at a constant height. We propose a novel Lyapunov guidance vector (LGV) field with tunable…

In this paper, we present a systematic approach for high-performance and efficient trajectory tracking control of autonomous wheel loaders. With the nonlinear dynamic model of a wheel loader, nonlinear model predictive control (MPC) is used…

We present a nonlinear model predictive control (MPC) scheme for tracking of dynamic target signals. The scheme combines stabilization and dynamic trajectory planning in one layer, thus ensuring constraint satisfaction irrespective of…

A novel dynamic model-based trajectory tracking control law is proposed for a four-wheel differentially driven mobile robot using a backstepping technique that guarantees the Lyapunov stability. The present work improves the work of…

The robust tracking and model following problem of linear discrete-time systems is investigated in this paper. An approach to design robust tracking controllers is proposed. The system is controlled to track dynamic inputs generated from a…

Contour tracking plays a crucial role in multi-axis motion control systems, and it requires both multi-axial contouring as well as standard servo performance in each axis. Among the existing contouring control methods, the cross coupled…

The sudden onset of deleterious and oscillatory dynamics (often called instabilities) is a known challenge in many fluid, plasma, and aerospace systems. These dynamics are difficult to address because they are nonlinear, chaotic, and are…

In this paper, an adaptive super-twisting controller is designed for an agile maneuvering quadrotor unmanned aerial vehicle to achieve accurate trajectory tracking in the presence of external disturbances. A cascaded control architecture is…

This paper presents a continuous-time output feedback adaptive control technique for stabilization and tracking control problems. The adaptive controller is motivated by the classical discrete-time retrospective cost adaptive control…

Autonomous underwater vehicles (AUVs) play a crucial role in surveying marine environments, carrying out underwater inspection tasks, and ocean exploration. However, in order to ensure that the AUV is able to carry out its mission…

This paper proposes a new robust trajectory tracking error-based control approach for unmanned ground vehicles. A trajectory tracking error-based model is used to design a linear model predictive controller and its control action is…

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…

Due to the advantages of flexible deployment and extensive coverage, unmanned aerial vehicles (UAVs) have great potential for sensing applications in the next generation of cellular networks, which will give rise to a cellular Internet of…

This paper proposes a real-time model predictive control (MPC) scheme to execute multiple tasks using robots over a finite-time horizon. In industrial robotic applications, we must carefully consider multiple constraints for avoiding joint…

This paper presents a control law for stabilization and trajectory tracking of a multicopter subject to safety constraints. The proposed approach guarantees forward invariance of a prescribed safety set while ensuring smooth tracking…