相关论文: Event-Triggered Nonlinear Model Predictive Control…

We present a versatile nonlinear model predictive control (NMPC) formulation for quadrupedal locomotion. Our formulation jointly optimizes a base trajectory and a set of footholds over a finite time horizon based on simplified dynamics…

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…

This work demonstrates that the non-stop flights of three or more carriers are compatible with holding a constant pose of a cable-suspended load. It also presents an algorithm for generating the carriers' coordinated non-stop trajectories.…

Geometry-morphing Micro Aerial Vehicles (MAVs) are gaining more and more attention lately, since their ability to modify their geometric morphology in-flight increases their versatility, while expanding their application range. In this…

We propose a distributed model predictive control (MPC) framework for coordinating heterogeneous, nonlinear multi-agent systems under individual and coupling constraints. The cooperative task is encoded as a shared objective function…

Nonlinear Model Predictive Control (NMPC) is a general and flexible control approach, used in many industrial contexts, and is based on the online solution of a nonlinear optimization problem. This operation requires in general a high…

This paper presents the development and implementation of a Model Predictive Control (MPC) framework for trajectory tracking in autonomous vehicles under diverse driving conditions. The proposed approach incorporates a modular architecture…

With increased developments and interest in cooperative driving and higher levels of automation (SAE level 3+), the need for safety systems that are capable to monitor system health and maintain safe operations in faulty scenarios is…

In the realm of control systems, model predictive control (MPC) has exhibited remarkable potential; however, its reliance on accurate models and substantial computational resources has hindered its broader application, especially within…

This paper considers the problem of hub-based platoon coordination for a large-scale transport system, where trucks have individual utility functions to optimize. An event-triggered distributed model predictive control method is proposed to…

This study explores modeling and control for quadrotor acrobatics, focusing on executing flip maneuvers. Flips are an elegant way to deliver sensor probes into no-fly or hazardous zones, like volcanic vents. Successful flips require…

Automated visual inspection of on-and offshore wind turbines using aerial robots provides several benefits, namely, a safe working environment by circumventing the need for workers to be suspended high above the ground, reduced inspection…

The feasibility of performing airborne and ground manipulation, perception, and reconnaissance using wheeled rovers, unmanned aerial vehicles, CubeSats, SmallSats and more have been evaluated before. Among all of these solutions,…

This paper investigates tracking controls for an arbitrary number of cooperating quadrotor unmanned aerial vehicles with a suspended rigid body payload. Assuming that a rigid body is connected to multiple quadrotors by rigid massless links,…

MPC (Model Predictive Control) techniques, with constraints, are applied to a nonlinear vehicle model for the development of an ACC (Adaptive Cruise Control) system for transitional manoeuvres. The dynamic model of the vehicle is developed…

We present a distributed model predictive control (DMPC) algorithm to generate trajectories in real-time for multiple robots. We adopted the \textit{on-demand collision avoidance} method presented in previous work to efficiently compute…

Distributed drive electric vehicles offer superior yaw moment control for autonomous drifting in extreme maneuvers. Conventional drift analysis constructs stability boundaries from open loop equilibria points and assumes a fixed envelope…

This work presents the first closed-loop control framework for cooperative payload transportation with non-stopping flying carriers. The proposed method includes a feedback wrench-controller that actively regulates the load's pose by…

This work presents the coordinated motion control and obstacle-crossing problem for the four wheel-leg independent motor-driven robotic systems via a model predictive control (MPC) approach based on an event-triggering mechanism. The…

We consider the problem of bridging the gap between geometric tracking control theory and implementation of model predictive control (MPC) for robotic systems operating on manifolds. We propose a generic on-manifold MPC formulation based on…