相关论文: Pitch Plane Trajectory Tracking Control for Soundi…

Adaptive fuzzy control strategies are established to achieve global prescribed performance with prescribed-time convergence for strict-feedback systems with mismatched uncertainties and unknown nonlinearities. Firstly, to quantify the…

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 presents a -- Learning from Demonstration -- method to perform robot movement trajectories that can be defined as you go. This way unstructured tasks can be performed, without the need to know exactly all the tasks and start and…

We study trajectory tracking for flat nonlinear systems with unmatched uncertainties using the model-following control (MFC) architecture. We apply state feedback linearisation control for the process and propose a simplified implementation…

In this paper, we investigate the attitude tracking problem of uncertain flexible spacecraft systems subject to external disturbances. In sharp contrast to existing results, the dynamics of flexible spacecraft systems and external…

We propose a novel approach for sampling-based and control-based motion planning that combines a representation of the environment obtained via a modified version of optimal Rapidly-exploring Random Trees (RRT*), with landmark-based…

This paper proposes an output feedback controller capable of ensuring steady-state offset-free tracking for ramp and sinusoidal reference signals while ensuring local stability and state and input constraints fulfillment. The proposed…

This paper presents an adaptive observer-based navigation strategy for spacecraft in Circular Relative Orbit (CRO) scenarios, addressing challenges in proximity operations like formation flight and uncooperative target inspection. The…

In this paper, a state feedback control design with min/max operational limiting constraints is developed for multi-input-multi-output linear time invariant systems. Specifically, servo-tracking control problems with input and output…

In this paper, we present a cascade control structure to address the trajectory tracking problem for quadcopters, ensuring uniform global asymptotic stability of the state tracking error dynamics. An MPC strategy based on a 12-dimensional…

Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any…

This paper addresses the problem of guidance and control of underwater vehicles. A multi-level control strategy is used to determine (1) outer-loop path-following commands and (2) inner-loop actuation commands. Specifically, a line-of-sight…

We develop a switched nonlinear predictor-feedback control law to achieve global asymptotic stabilization for nonlinear systems with arbitrarily long input delay, under state quantization. The proposed design generalizes the nonlinear…

This article addresses the nonadaptive and robust output regulation problem of the general nonlinear output feedback system with error output. The global robust output regulation problem for a class of general output feedback nonlinear…

In this paper, two nonlinear methods for stabilizing the orientation of a Four-Wheel Independent Drive and Steering (4WIDS) robot while in the air are analyzed, implemented in simulation, and compared. AGRO (the Agile Ground Robot) is a…

This paper proposes a novel direct adaptive control method for rejecting unknown deterministic disturbances and tracking unknown trajectories in systems with uncertain dynamics when the disturbances or trajectories are the summation of…

Tracked vehicles distribute their weight continuously over a large surface area (the tracks). This distinctive feature makes them the preferred choice for vehicles required to traverse soft and uneven terrain. From a robotics perspective,…

This paper carries out the mathematical modeling, simulation, and control law design for a quadrotor with variable-pitch propellers. The use of variable-pitch propeller for thrust variation instead of RPM regulation facilitates generation…

This paper tackles state feedback control of switched linear systems under arbitrary switching. We propose a data-driven control framework that allows to compute a stabilizing state feedback using only a finite set of observations of…

This paper investigates the utilization of differential thrust to help a commercial aircraft with a damaged vertical stabilizer regain its lateral/directional stability. In the event of an aircraft losing its vertical stabilizer, the…