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This paper introduces an $mathcal{L}_1$ adaptive control augmentation for geometric tracking control of quadrotors. In the proposed design, the $mathcal{L}_1$ augmentation handles nonlinear (time- and state-dependent) uncertainties in the quadrotor dynamics without assuming/enforcing parametric structures, while the baseline geometric controller achieves stabilization of the known nonlinear model of the system dynamics. The $mathcal{L}_1$ augmentation applies to both the rotational and the translational dynamics. Experimental results demonstrate that the augmented geometric controller shows consistent and (on average five times) smaller trajectory tracking errors compared with the geometric controller alone when tested for different trajectories and under various types of uncertainties/disturbances.
We present $mathcal{L}_1$-$mathcal{GP}$, an architecture based on $mathcal{L}_1$ adaptive control and Gaussian Process Regression (GPR) for safe simultaneous control and learning. On one hand, the $mathcal{L}_1$ adaptive control provides stability an
The optimal tracking problem is addressed in the robotics literature by using a variety of robust and adaptive control approaches. However, these schemes are associated with implementation limitations such as applicability in uncertain dynamical envi
This paper concentrates on the study of the decentralized fuzzy control method for a class of fractional-order interconnected systems with unknown control directions. To overcome the difficulties caused by the multiple unknown control directions in f
This paper investigates adaptive control of nonlinear robot manipulators with parametric uncertainty. Motivated by generating closed-loop robot dynamics with enhanced transmission capability of a reference torque and with connection to linear dynamic
The innovative concept of Electric Aircraft is a challenging topic involving different control objectives. For instance, it becomes possible to reduce the size and the weight of the generator by using the battery as an auxiliary generator in some ope