Zobrazeno 1 - 10
of 132
pro vyhledávání: '"Sanyal, Amit K."'
This article presents an extended state observer for vehicle modeled as a rigid body in three-dimensional translational and rotational motions. The extended state observer is applicable to a rotorcraft aerial vehicle with a fixed plane of rotors, mod
Externí odkaz:
http://arxiv.org/abs/2307.08762
This article presents a tracking control framework enhanced by an extended state observer for a rotorcraft aerial vehicle modeled as a rigid body in three-dimensional translational and rotational motions. The system is considered as an underactuated
Externí odkaz:
http://arxiv.org/abs/2306.08090
The decentralized consensus control of a formation of rigid-body spacecraft is studied in the framework of geometric mechanics while accounting for a constant communication time delay between spacecraft. The relative position and attitude (relative p
Externí odkaz:
http://hdl.handle.net/10150/615096
http://arizona.openrepository.com/arizona/handle/10150/615096
http://arizona.openrepository.com/arizona/handle/10150/615096
Precise trajectory tracking for legged robots can be challenging due to their high degrees of freedom, unmodeled nonlinear dynamics, or random disturbances from the environment. A commonly adopted solution to overcome these challenges is to use optim
Externí odkaz:
http://arxiv.org/abs/2211.11922
The problem of rigid body pose estimation is treated in discrete-time via discrete Lagrange-d'Alembert principle and discrete Lyapunov methods. The position and attitude of the rigid body are to be estimated simultaneously with the help of vision and
Externí odkaz:
http://arxiv.org/abs/2206.08960
Publikováno v:
In Aerospace Science and Technology December 2024 155 Part 1
Ultra-Local Models (ULM) have been applied to perform model-free control of nonlinear systems with unknown or partially known dynamics. Unfortunately, extending these methods to MIMO systems requires designing a dense input influence matrix which is
Externí odkaz:
http://arxiv.org/abs/2203.08729
The rigid body attitude estimation problem is treated using the discrete-time Lagrange-d'Alembert principle. Three different possibilities are considered for the multi-rate relation between angular velocity measurements and direction vector measureme
Externí odkaz:
http://arxiv.org/abs/2008.04104
A geometric estimator is proposed for the rigid body attitude under multi-rate measurements using discrete-time Lyapunov stability analysis in this work. The angular velocity measurements are assumed to be sampled at a higher rate compared to the att
Externí odkaz:
http://arxiv.org/abs/2007.08185
Autor:
Sanyal, Amit K.
This work provides a framework for data-driven control of discrete time systems with unknown input-output dynamics and outputs controllable by the inputs. This framework leads to stable and robust real-time control of the system such that a feasible
Externí odkaz:
http://arxiv.org/abs/2006.05288