This paper presents a nonlinear robust control strategy to solve the path tracking problem for a quadrotor unmanned aerial vehicle. The helicopter motion equations is obtained by the LagrangeEuler formalism. The control structure is performed through a nonlinear H∞ controller to stabilize the rotational movements and a control law based on backstepping approach to track the reference trajectory...

The Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC), a fleet of quadrotor helicopters, has been developed as a testbed for novel algorithms that enable autonomous operation of aerial vehicles. This paper develops an autonomous vehicle trajectory tracking algorithm through cluttered environments for the STARMAC platform. A system relying on a single optimization must ...

In this paper, the problem of composite trajectory tracking control for robot manipulator with lumped uncertainties including unmodeled dynamics and external disturbances is investigated. To achieve active disturbance rejection, adaptive sliding mode observer proposed to estimate unknown in absence prior upper bound information on uncertainties. Then, by combining non-singular terminal prescrib...

The motivation for this paper comes from the study of a simple model of bicycle motion. The bicycle is modeled as an oriented segment in the plane of fixed length `, the wheelbase of the bicycle. The motion is constrained so that the segment is always tangent to the path of the rear wheel; this non-holonomic constraint is due to the fact that the rear wheel is fixed on the frame, whereas the fr...

We use lobe dynamics in the restricted three-body problem to design orbits with prescribed itineraries with respect to the resonance regions within a Hill’s region. The application we envision is the design of a low energy trajectory to orbit three of Jupiter’s moons using the patched three-body approximation (P3BA). We introduce the “switching region,” the P3BA analogue to the “sphere of influ...

Pencil Beam Scanning is a dynamic beam delivery system developed for proton therapy. The radiation field necessary to reach in a fast and robust way a prescribed 3D dose distribution is obtained by accurately controlling both the extraction of the beam from a 235 MeV accelerator and the motion of the beam spot thanks to scanning magnets. This paper focuses on the trajectory planning aspect of t...

A Dubins path is a shortest path with bounded curvature. The seminal result in nonholonomic motion planning is that (in the absence of obstacles) a Dubins path consists either from a circular arc followed by a segment followed by another arc, or from three circular arcs [Dubins, 1957]. Dubins original proof uses advanced calculus; later, Dubins result was reproved using control theory technique...

Fully automatic driving is emerging as the approach to dramatically improve efficiency (throughput per unit of space) while at the same time leading to the goal of zero accidents. This approach, based on fully automated vehicles, might improve the efficiency of road travel in terms of space and energy used, and in terms of service provided as well. For such automated operation, trajectory plann...

This paper studies trajectory generation for a mothership that tows a drogue using a flexible cable. The contributions of this paper include model validation for the towed cable system described by a lumped mass extensible cable using flight data, and optimal trajectory generation for the towed cable system with tension constraints using model predictive control. The optimization problem is for...

We present a method for trajectory generation for all-wheel steering mobile robots which can account for rough terrain and predictable vehicle dynamics and apply it to the problem of generating optimal motion splines. There has been little work in trajectory generation for vehicles with all-wheel steering capability compared to the Ackermann, differential-drive, or omnidirectional mobility syst...