相关论文: Robust Quadcopter Motion Control Using Output Feed…

This paper addresses the formation maneuver control problem of leader-follower multi-agent systems with high-order integrator dynamics. A distributed output feedback formation maneuver controller is proposed to achieve desired maneuvers so…

Using the properties of differential flatness, a controllable system, such as a quadcoper model, may be transformed into a linear equivalent system via a coordinate change and an input mapping. This is a straightforward advantage for the…

This paper investigates the cooperative control of multiple unmanned and manned vehicles via an output containment control approach for heterogeneous discrete-time multiagent systems. The unmanned vehicles act as leading vehicles to guide…

Task-space quadratic programming (QP) is an elegant approach for controlling robots subject to constraints. Yet, in the case of kinematic-controlled (i.e., high-gains position or velocity) robots, closed-loop QP control scheme can be prone…

We consider the static output feedback control for Linear Quadratic Regulator problems with structured constraints under the assumption that system parameters are unknown. To solve the problem in the model free setting, we propose the…

The growing potential of quadcopters in various domains, such as aerial photography, search and rescue, and infrastructure inspection, underscores the need for real-time control under strict safety and operational constraints. This…

We consider output-feedback stabilization problems for a class of two-component linear parabolic systems with boundary actuation and measurement. The state-feedback control laws are obtained using backstepping method and require measurement…

In this paper, we study the event-triggered global robust practical output regulation problem for a class of nonlinear systems in output feedback form with any relative degree. Our approach consists of the following three steps. First, we…

The problem of robust distributed control arises in several large-scale systems, such as transportation networks and power grid systems. In many practical scenarios controllers might not have enough information to make globally optimal…

This paper presents an output feedback control law for the Korteweg-de Vries equation. The control design is based on the backstepping method and the introduction of an appropriate observer. The local exponential stability of the…

Obtaining reliable state preparation protocols is a key step towards practical implementation of many quantum technologies, and one of the main tasks in quantum control. In this work, different reinforcement learning approaches are used to…

The feedback linearization method is further developed for the controller design on general nonlinear systems. Through the Lyapunov stability theory, the intractable nonlinear implicit algebraic control equations are effectively solved, and…

In this paper, we present a deep reinforcement learning method for quadcopter bypassing the obstacle on the flying path. In the past study, the algorithm only controls the forward direction about quadcopter. In this letter, we use two…

This paper addresses the challenges of distributed formation control in multiple mobile robots, introducing a novel approach that enhances real-world practicability. We first introduce a distributed estimator using a variable structure and…

Many robotic systems must follow planned paths yet pause safely and resume when people or objects intervene. We present an output-space method for systems whose tracked output can be feedback-linearized to a double integrator (e.g.,…

We present three dynamic error feedback controllers for robust output regulation of regular linear systems. These controllers are (i) a minimal order robust controller for exponentially stable systems (ii) an observer-based robust…

This paper studies the problem of stabilizing a continuous-time switched linear system by quantized output feedback. We assume that the quantized outputs and the switching signal are available to the controller at all time. We develop an…

This paper investigates the control problem of steering a group of spherical mobile robots to cooperatively transport a spherical object. By controlling the movements of the robots to exert appropriate contact (pushing) forces, it is…

Output feedback stabilization of control systems is a crucial issue in engineering. Most of these systems are not uniformly observable, which proves to be a difficulty to move from state feedback stabilization to dynamic output feedback…

In this thesis we are interested in applying distributed estimation, control and optimization techniques to enable a group of quadcopters to fly through openings. The quadcopters are assumed to be equipped with a simulated bearing and…