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The ability to land on a slope is a meaningful capability of a quadrotor. In slope landing, the controller applied to the quadrotor should precisely control the bottom plane parallel to the slope when touching down, as well as attenuate the disturbances from nonlinearities, ground effects and other interference. In this paper, an output feedback finite-horizon optimal control is used to accurately...
This paper is concerned with the Optimal Sliding Mode Control (OSMC) for trajectory tracking of Multiple-Input Multiple Output (MIMO) systems. Integrating the first-order sliding mode control (SMC) with Linear-Quadratic-Regulator (LQR) is employed to design an optimal sliding manifold and a global robust control law for asymptotically stabilizing the system to a desired trajectory. The applicability...
This paper proposes an approach to extend the mixed logical dynamical modelling framework for synthesizing robust optimal control actions for constrained piecewise affine systems subject to bounded additive input disturbances. Rather than using closed-loop dynamic programming arguments, robustness is achieved here with an open-loop optimization strategy, such that the optimal control sequence optimizes...
In this paper we formulate and solve optimal control problems for power generating kite systems. Here, the kite generates energy by periodically pulling a generator on the ground while flying fast in a crosswind direction. We are searching for an intrinsically open-loop stable trajectory such that the kite generates as much power as possible without needing feedback, while neither the kite nor the...
This paper presents a pseudospectral (PS) optimal control algorithm for the autonomous motion planning of a fleet of unmanned ground vehicles (UGVs). The UGVs must traverse an obstacle-cluttered environment while maintaining robustness against possible collisions. The generality of the algorithm comes from a binary logic that modifies the cost function for various motion planning modes. Typical scenarios...
In this paper the problem of the time inconsistency of the leader strategy in a Multi-Model Game is studied. Initially the game dynamic is given by a family of N different possible differential equations (Multi-Model representation) with no information about the trajectory which is realized. In a previous result the robust Leader-Follower strategy design the min-max strategies for each player which...
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