相关论文: Globally Asymptotically Stable Trajectory Tracking…

This article concerns the development of the Vector Field Orientation - Active Disturbance Rejection (VFO-ADR) cascaded path-following controller for underactuated vehicles moving in a 3-dimensional space. The proposed concept of a cascaded…

Tracking a desired Pointing Direction and simultaneously obtaining a reference Angular Velocity (PDAV) around the pointing direction constitutes a very involved and complicated motion encountered in a variaty of robotic, industrial and…

Today's focus on expanding the capabilities of control systems, resulting from the abundance of data and computational resources, requires data-based alternatives over model-based ones. These alternatives may become the sole tool for…

The paper solves the problem of tracking control of a quadrotor with unmeasurable pitch and roll angles based on the geometric approach with the use of the enhanced extended observer and the internal model. The proposed approach makes it…

Gaussian Processes (GPs) are expressive models for capturing signal statistics and expressing prediction uncertainty. As a result, the robotics community has gathered interest in leveraging these methods for inference, planning, and…

Standard geometric control relies on force-moment decoupling, an assumption that breaks down in many aerial platforms due to spurious forces naturally induced by control moments. While strategies for such coupled systems have been validated…

Accurate modeling and explaining geospatial tabular data (GTD) are critical for understanding geospatial phenomena and their underlying processes. Recent work has proposed a novel transformer-based deep learning model named GeoAggregator…

This paper considers the robust control of a catenary robot composed of two quadrotors connected by an inextensible cable. The system is modeled on \(SE(3)\), with the cable treated as a geometric subsystem induced by the UAV configuration…

Flight dynamics involve uncertainties in parameters, aerodynamic derivatives, and engine thrust. These uncertainties can be categorized into three types: known-predictable, known-unpredictable, and unknown. While advanced control systems…

Using the context of trajectory estimation and tracking for multi-rotor unmanned aerial vehicles (UAVs), we explore the challenges in applying high-gain observers to highly dynamic systems. The multi-rotor will operate in the presence of…

Many of the existing works on quadrotor control address the trajectory tracking problem by employing a cascade design in which the translational and rotational dynamics are stabilized by two separate controllers. The stability of the…

We present a new quadrotor geometric control scheme that is capable of tracking highly aggressive trajectories. Our geometric controller uses the logarithmic map of SO(3) to express rotational error in the Lie algebra, and we show that it…

In this paper, we study an unmanned aerial vehicle (UAV) communication system, where a ground node (GN) communicate with a UAV assisted by intelligent reflecting surface (IRS) in the presence of a jammer with imperfect location information.…

This paper provides new results for a tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid complexities and…

A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…

Conformal Geometric Algebra (CGA) is a framework that allows the representation of objects, such as points, planes and spheres, and deformations, such as translations, rotations and dilations as uniform vectors, called multivectors. In this…

High performance tracking control can only be achieved if a good model of the dynamics is available. However, such a model is often difficult to obtain from first order physics only. In this paper, we develop a data-driven control law that…

This paper proposes a geometric adaptive controller for a quadrotor unmanned aerial vehicle with artificial neural networks. It is assumed that the dynamics of a quadrotor is disturbed by arbitrary, unstructured forces and moments caused by…

This paper proposes an integration of surrogate modeling and topology to significantly reduce the amount of data required to describe the underlying global dynamics of robot controllers, including closed-box ones. A Gaussian Process (GP),…

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…