相关论文: A Deep Inverse-Mapping Model for a Flapping Roboti…
This paper presents a dynamic model and a control system for a flapping-wing unmanned aerial vehicle. Inspired by flight characteristics captured from live Monarch butterflies, a new dynamic model is presented to account the effects of…
A data-driven framework using snapshots of an uncontrolled flow is proposed to identify, and subsequently demonstrate, effective control strategies for different objectives in supersonic impinging jets. The approach, based on a dynamic mode…
Stably inverting a dynamic system model is the foundation of numerous servo designs. Existing inversion techniques have provided accurate model approximations that are often highly effective in feedforward controls. However, when the…
The development of automatic perception systems and techniques for bio-inspired flapping-wing robots is severely hampered by the high technical complexity of these platforms and the installation of onboard sensors and electronics. Besides,…
Model-based control requires an accurate model of the system dynamics for precisely and safely controlling the robot in complex and dynamic environments. Moreover, in the presence of variations in the operating conditions, the model should…
Exploring the design and control strategies of soft robots through simulation is highly attractive due to its cost-effectiveness. Although many existing models (e.g., finite element analysis) are effective for simulating soft robotic…
In recent years, deep reinforcement learning has emerged as a technique to solve closed-loop flow control problems. Employing simulation-based environments in reinforcement learning enables a priori end-to-end optimization of the control…
Shaping the reachable set of a dynamical system is a fundamental challenge in control design, with direct implications for both performance and safety. This paper considers the problem of selecting the optimal input matrix for a linear…
Dynamic control of a soft-body robot to deliver complex behaviors with low-dimensional actuation inputs is challenging. In this paper, we present a computational approach to automatically generate versatile, underactuated control policies…
One of the motivations for exploring flapping-wing aerial robotic systems is to seek energy reduction, by maintaining manoeuvrability, compared to conventional unmanned aerial systems. A Flapping Wing Flying Robot (FWFR) can glide in…
Differential flatness has been used to provide diffeomorphic transformations for non-linear dynamics to become a linear controllable system. This greatly simplifies the control synthesis since in the flat output space, the dynamics appear…
We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they…
This research endeavors to design the perching maneuver and control in ornithopter robots. By analyzing the dynamic interplay between the robot's flight dynamics, feedback loops, and the environmental constraints, we aim to advance our…
Reinforcement learning has received high research interest for developing planning approaches in automated driving. Most prior works consider the end-to-end planning task that yields direct control commands and rarely deploy their algorithm…
This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main advantage of the formulation of the dynamic is that it does…
Flying quadrotors in tight formations is a challenging problem. It is known that in the near-field airflow of a quadrotor, the aerodynamic effects induced by the propellers are complex and difficult to characterize. Although machine…
We investigate the effect of wing twist flexibility on lift and efficiency of a flapping-wing micro air vehicle capable of liftoff. Wings used previously were chosen to be fully rigid due to modeling and fabrication constraints. However,…
Learning-based control methods typically assume stationary system dynamics, an assumption often violated in real-world systems due to drift, wear, or changing operating conditions. We study reinforcement learning for control under…
To maintain full autonomy, autonomous robotic systems must have the ability to self-repair. Self-repairing via compensatory mechanisms appears in nature: for example, some fish can lose even 76% of their propulsive surface without loss of…
Morphing aerial vehicles offer enhanced maneuverability and fuel efficiency compared to fixed-wing configurations. However, the trade-off between performance gains and control cost in dynamic, unsteady maneuvers remains under-explored. This…