相关论文: Maneuvering-based Dynamic Thrust Allocation for Fu…
In this paper, robust control with sea state observer and dynamic thrust allocation is proposed for the Dynamic Positioning (DP) of an accommodation vessel in the presence of unknown hydrodynamic force variation and the input time delay. In…
In this paper, a dynamic-programming approach to the coupled translational and rotational control of thruster-driven spacecraft is studied. To reduce the complexity of the problem, dynamic-programming-based optimal policies are calculated…
A control allocation algorithm using control Lyapunov functions to determine stabilizing charges and thrusts of hybrid Coulomb spacecraft formations (HCSFs) is presented. The goal is to stabilize a desired configuration while minimizing the…
This chapter deals with the design of dynamic allocation functions for systems with saturating actuators. The goal of the allocator consists in redistributing the desired control effort within the multiple actuators by penalizing each…
Underactuated systems like sea vessels have degrees of motion that are insufficiently matched by a set of independent actuation forces. In addition, the underlying trajectory-tracking control problems grow in complexity in order to decide…
In this paper, we address the problem of discovering maximal Lyapunov functions, as a means of determining the region of attraction of a dynamical system. To this end, we design a novel neural network architecture, which we prove to be a…
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…
This paper presents a general framework for solving the control allocation problem (CAP) in thrust-vector controlled rigid-bodies with an arbitrary number of thrusters. Two novel solutions are proposed: a closed-form, Lipschitz continuous…
Dual-arm manipulation tasks can be prescribed to a robotic system in terms of desired absolute and relative motion of the robot's end-effectors. These can represent, e.g., jointly carrying a rigid object or performing an assembly task. When…
A novel vehicle traction algorithm solving the traction force allocation problem based on vehicle center point motion feedback controller is proposed in this paper. The center point motion feedback control system proposed utilizes…
This paper introduces a novel closed-form strategy that dynamically modifies the reference of a pre-compensated nonlinear system to ensure the satisfaction of a set of convex constraints. The main idea consists of translating constraints in…
Autonomous underwater vehicles (AUVs) are subject to various sources of faults during their missions, which challenges AUV control and operation in real environments. This paper addresses fault-tolerant trajectory tracking of autonomous…
The distributed non-smooth resource allocation problem over multi-agent networks is studied in this paper, where each agent is subject to globally coupled network resource constraints and local feasibility constraints described in terms of…
In this paper, we consider the problem of platooning control with mismatched disturbances using the distributed adaptive backstepping method. The main challenges are: (1) maintaining the compositionality and the distributed nature of the…
Flapping-fin underwater vehicle propulsion systems provide an alternative to propeller-driven systems in situations that require involve a constrained environment or require high maneuverability. Testing new configurations through…
This research offers a novel framework for dynamic task assignment for unmanned aerial vehicles (UAVs) in cooperative search settings. Notably, it incorporates post-fault UAV capabilities into job assignment techniques, assuring operational…
Machine learning techniques have demonstrated their effectiveness in achieving autonomy and optimality for nonlinear and high-dimensional dynamical systems. However, traditional black-box machine learning methods often lack formal stability…
This paper presents a nonlinear model predictive control strategy for stochastic systems with general (state and input dependent) disturbances subject to chance constraints. Our approach uses an online computed stochastic tube to ensure…
With the goal of moving towards implementation of increasingly dynamic behaviors on underactuated systems, this paper presents an optimization-based approach for solving full-body dynamics based controllers on underactuated bipedal robots.…
This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The purpose of the controller is to guide the vehicle towards…