相关论文: Closed-Loop Stability of a Lyapunov-Based Switchin…
We present a switching scheme, which uses both the attitude-error quaternion (AEQ) and the angular-velocity error, for controlling the rotational degrees of freedom of an uncrewed aerial vehicle (UAV) during flight. In this approach, the…
This paper presents a new Lyapunov-based nonlinear model predictive controller (LNMPC) for the attitude control problem of unmanned aerial vehicles (UAVs), which is essential for their functioning operation. The controller is designed based…
We present model predictive selection (MPS), a new method for selecting the stable closed-loop (CL) equilibrium attitude-error quaternion (AEQ) of an uncrewed aerial vehicle (UAV) during the execution of high-speed yaw maneuvers. In this…
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…
Over the past few decades, continuous quaternion-based attitude control has been proven highly effective for driving rotational systems that can be modeled as rigid bodies, such as satellites and drones. However, methods rooted in this…
In this study, we propose a novel method that integrates Nonlinear Model Predictive Contour Control (NMPCC) with an Exponentially Stabilizing Control Lyapunov Function (ES-CLF) and Exponential Higher-Order Control Barrier Functions to…
A Lyapunov-based method is presented for stabilizing and controlling of closed quantum systems. The proposed method is constructed upon a novel quantum Lyapunov function of the system state trajectory tracking error. A positive-definite…
The property that every control system should posses is stability, which translates into safety in real-life applications. A central tool in systems theory for synthesizing control laws that achieve stability are control Lyapunov functions…
We introduce a new class of attitude control laws for rotational systems; the proposed framework generalizes the use of the Euler \mbox{axis--angle} representation beyond quaternion-based formulations. Using basic Lyapunov stability theory…
This paper presents a novel design for finite-time position control of quadrotor Unmanned Aerial Vehicles (UAVs). A robust, finite-time, nonlinear feedback controller is introduced to reject bounded disturbances in tracking tasks. The…
This paper presents the development of a sliding mode controller using the backstepping approach. The controller is employed to synthesize tracking errors and Lyapunov functions. A novel state-space representation is formulated by…
Various control methods have been studied to control the position and attitude of quadrotors. There are some differences in the mathematical equations between the two types of quadrotor configurations that lead to different control…
We present a novel, high-performance attitude control law for multicopters, with a view to recovery from large disturbances. The controller is compared to three well-established alternatives from the literature. All controllers considered…
This work addresses the problem of constrained motion control of the uncrewed surface vessels. The constraints are imposed on states/inputs of the vehicles due to the physical limitations, mission requirements, and safety considerations. We…
Finding a control Lyapunov function (CLF) in a dynamical system with a controller is an effective way to guarantee stability, which is a crucial issue in safety-concerned applications. Recently, deep learning models representing CLFs have…
In this article, a novel adaptive controller is designed for Euler-Lagrangian systems under predefined time-varying state constraints. The proposed controller could achieve this objective without a priori knowledge of system parameters and,…
This paper proposes a novel controller framework that provides trajectory tracking for an Aerial Manipulator (AM) while ensuring the safe operation of the system under unknown bounded disturbances. The AM considered here is a 2-DOF…
This paper presents a new prescribed performance control scheme for the attitude tracking of the three degree-of-freedom (3-DOF) helicopter system with lumped disturbances under mechanical constraints. First, a novel prescribed performance…
We propose a tracking control law for the fully actuated rigid body system in the presence of any unknown constant disturbance by employing quaternions with the stable embedding technique and Lyapunov stability theory. The stable embedding…
This paper introduces a novel control strategy for agile spacecraft attitude control, addressing reaction wheel-related input and state constraints. An optimal-decay control Lyapunov function quadratic program stabilizes the system and…