相关论文: Redundant Observer-Based Tracking Control for Obje…

An observer based adaptive detection methodology (ADM) is proposed for estimating frequency and its rate of change (RoCoF) of the voltage and/or current measurements acquired from an instrument transformer. With guaranteed convergence and…

We address load-parameter estimation in cooperative aerial transport with time-varying mass and inertia, as in fluid-carrying payloads. Using an intrinsic manifold model of the multi-quadrotor-load dynamics, we combine a geometric tracking…

Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…

We prove that aerodynamic co-contraction in a redundant dual-rotor actuator can tune a passive, trim-defined aero-mechanical damping while keeping the commanded net force constant. In particular, we define an incremental damping coefficient…

This paper proposes a fault-tolerant control strategy based on a tilt-rotor quadcopter prototype, utilizing nonlinear model predictive control to maintain both attitude and position stability in the event of rotor failure. The control…

In various applications in the field of control engineering the estimation of the state variables of dynamic systems in the presence of unknown inputs plays an important role. Existing methods require the so-called observer matching…

A method of designing observers and observer-based tracking controllers is proposed for nonlinear systems on manifolds via embedding into Euclidean space and transversal stabilization. Given a system on a manifold, we first embed the…

This paper presents the full dynamics and control of arbitrary number of quadrotor unmanned aerial vehicles (UAV) transporting a rigid body. The rigid body is connected to the quadrotors via flexible cables where each flexible cable is…

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…

The rigid-body attitude tracking using vector and biased gyro measurements with unknown inertia matrix is studied in this note. First, a gyro-bias observer with global exponential stability is designed. Then, an attitude tracking controller…

The spacecraft attitude tracking problem is addressed with actuator faults and uncertainties among inertias, external disturbances, and, in particular, state estimates. A continuous sliding mode attitude controller is designed using…

This is the last part of four series papers, aiming at stabilization for signal-input-signaloutput (SISO) linear finite-dimensional systems corrupted by general input disturbances. A new observer, referred to as Extended Dynamics Observer…

In this paper, we propose a new approach to design globally convergent reduced-order observers for nonlinear control systems via contraction analysis and convex optimization. Despite the fact that contraction is a concept naturally suitable…

For a class of uncertain systems with large-error sensing, the low-order stable signal corrector and observer are presented for signal correction and uncertainty estimation according to completely decoupling estimation. The signal corrector…

Efficient observer design and accurate sensor fusion are key in state estimation. This work proposes an optimization-based methodology, termed Trajectory Based Optimization Design (TBOD), allowing the user to easily design observers for…

The research on aerial manipulation systems has been increased rapidly in recent years. These systems are very attractive for a wide range of applications due to their unique features. However, dynamics, control and manipulation tasks of…

We address the problem of state estimation, attack isolation, and control of discrete-time linear time-invariant systems under (potentially unbounded) actuator and sensor false data injection attacks. Using a bank of unknown input…

Onboard visual sensing has been widely used in the unmanned ground vehicle (UGV) and/or unmanned aerial vehicle (UAV), which can be modeled as dynamic systems on SE(3). The onboard sensing outputs of the dynamic system can usually be…

This article studies the dynamics and control of a novel underactuated system, wherein a plate suspended by cables and with a freely moving mass on top, whose other ends are attached to three quadrotors, is sought to be horizontally…

Repetitive operations are widely conducted by automatic machines in industry. Periodic disturbances induced by the repetitive operations must be compensated to achieve precise functioning. In this paper, a periodic-disturbance observer…