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In this paper, it presents a control strategy to trajectory tracking of multiple quadrotors while maintaining the desired formation. From the mathematical model of quadrotor, we can get that the controls of quadrotor in height and yaw direction are independent. Therefore, we can adopt different control strategies for the horizontal and height direction. We present a synchronization approach to trajectory...
This paper presents a method based on extreme learning machine to learn motions from human demonstrations. We model a motion as an autonomous dynamical system and define sufficient conditions to ensure the global stability at the target. A detailed theoretic analysis is proposed on the constraints regarding to input and output weights which yields a globally stable reproduction of demonstrations....
Clothbot is a new kind of climbing robot with novel structure that enables it to move on human cloth. Earlier version of Clothbot can only climb on cloth with manual control because there is complex deformation on human cloth and thus Clothbot can't keep itself stable. In this paper, we propose some new hardware improvements to enhance the stability of Clothbot on human cloth, then adopt a remote...
In this paper, we study the stability region for a set of intelligent controllers developed by learning human expert control skills using support vector machines (SVMs). Based on the discrete-time system Lyapunov theory, a Chebychev points based estimation approach is proposed to evaluate the stability region, a key property of this set of SVM-based human learning controllers. One of such learning...
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