This paper presents a nonlinear control approach for quadrotor Micro Aerial Vehicles (MAVs), which combines a backstepping-like regulator based on the solution of a certain class of global output regulation problems f...
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This paper presents a nonlinear control approach for quadrotor Micro Aerial Vehicles (MAVs), which combines a backstepping-like regulator based on the solution of a certain class of global output regulation problems for the rigid body equations on SO(3), a robust controller for the system with bounded disturbances, as well as a trajectory generator using a model predictive control method. The proposed algorithm is endowed with strong convergence properties so that it allows the quadrotor MAVs to reach almost all the desired attitudes. The control approach is implemented on a high-payload-capable quadcopter with unstructured dynamics and unknown disturbances. The performance of our algorithm is demonstrated through a series of experimental evaluations and comparisons with another control method on normal and aggressive trajectory tracking tasks.
The “timed elastic band” approach optimizes robot trajectories by subsequent modification of an initial trajectory generated by a global planner. The objectives considered in the trajectory optimization include but ...
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The “timed elastic band” approach optimizes robot trajectories by subsequent modification of an initial trajectory generated by a global planner. The objectives considered in the trajectory optimization include but are not limited to the overall path length, trajectory execution time, separation from obstacles, passing through intermediate way points and compliance with the robots dynamic, kinematic and geometric constraints. “Timed elastic bands” explicitly consider spatial-temporal aspects of the motion in terms of dynamic constraints such as limited robot velocities and accelerations. The trajectory planning operates in real time such that “timed elastic bands” cope with dynamic obstacles and motion constraints. The “timed elastic band problem” is formulated as a scalarized multi-objective optimization problem. Most objectives are local and relate to only a small subset of parameters as they only depend on a few consecutive robot states. This local structure results in a sparse system matrix, which allows the utilization of fast and efficient optimization techniques such as the open-source framework “g2o” for solving “timed elastic band” problems. The “g2o” sparse system solvers have been successfully applied to VSLAM problems. This contribution describes the application and adaptation of the g2o-framework in the context of trajectory modification with the “timed elastic band”. Results from simulations and experiments with a real robot demonstrate that the implementation is robust and computationally efficient.
Many research works have been reported with respect to the relation between neural and fuzzy systems. Looking for a synergistic relation of these technologies, an important property of neural network-based systems is ...
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Many research works have been reported with respect to the relation between neural and fuzzy systems. Looking for a synergistic relation of these technologies, an important property of neural network-based systems is their learning capacity, that permits to embed self-organization in fuzzy logic systems. In this paper, a new neuro-fuzzy system, called FasBack, is proposed, that combines learning based on prediction error minimization and pattern matching. FasBack adds error-based learning to a previously proposed model, called FasArt, which extended and formalized neural networks models of the ART family, as fuzzy logic systems. Experimental results are presented in nonlinear systems identification problems, typically used in the literature.
Some algorithms for a fast and efficient computation of collision-free robot gross-motions are presented. First a technique based on a look-up-table for mapping obstacles into configuration-space is shown. In the seco...
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Some algorithms for a fast and efficient computation of collision-free robot gross-motions are presented. A technique based on a lookup-table for mapping obstacles into configuration-space, is shown. Some algorithms f...
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Some algorithms for a fast and efficient computation of collision-free robot gross-motions are presented. A technique based on a lookup-table for mapping obstacles into configuration-space, is shown. Some algorithms for the generation of the distance-field in configuration space, which were derived from well-known methods but adapted for c-space, are described and compared with respect to their effectiveness.< >
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