This chapter presents an image-based Proportional Integral Derivative (PID) controller for a redundant overactuated planar parallel robot; the control objective is to drive the robot end effector to a desired constant reference position. The main feature of the proposed approach is the use of a vision system for obtaining the end effector position. This approach precludes the use of the robot f...

Standard quadrotor UAVs possess a limited mobility because of their inherent underactuation, i.e., availability of 4 independent control inputs (the 4 propeller spinning velocities) vs. the 6 dofs parameterizing the quadrotor position/orientation in space. As a consequence, the quadrotor pose cannot track arbitrary trajectories in space (e.g., it can hover on the spot only when horizontal). Sin...

This paper presents a novel optimization-based full-pose trajectory tracking method to control overactuated multi-rotor aerial vehicles with limited actuation abilities. The proposed allocates feasible inputs track reference trajectory, while ensuring the of position, and closest attitude. optimization simultaneously searches for corresponding from infinite possible solutions, smooth inputs. re...

Two robust nonlinear controllers along with a nonlinear observer have been developed in this study to control a 1D nonlinear flexible spacecraft. The first controller is based on dynamic inversion, while the second one is composed of dynamic inversion and µ-synthesis controllers. The extension of dynamic inversion approach to flexible spacecraft is impeded by the non-minimum phase characteristi...

Formation control ideas for multiple spacecraft using the virtual structure approach are presented. If there is no formation feedback from the spacecraft to the virtual structure, the spacecraft will get out of formation when the virtual structure moves too fast for the spacecraft to track due to spacecraft control saturation or the total system must sacrifice convergence speed in order to keep...