This work proposes a convex optimization-based framework for the trajectory planning and tracking of quadcopters that ensures continuous-time safety guarantees. Using convexity property B-spline curves differential flatness quadcopters, second-order cone program is formulated to generate an optimal nominal respects state input constraints, including position, linear velocity, angle, angular thr...

This paper studies a formation control problem for nonlinear multi-agent systems; specifically non-holonomic vehicles represented as linear parameter-varying (LPV) models are of interest here. The objective of this study is twofold. First, we demonstrate the applicability of a novel approach to distributed control for LPV decomposable systems (Hoffmann et al., 2013). Second, we investigate diff...

This paper deals with the design of a real-time controller for trajectory tracking in the image plane. The Image-Based Visual Servoing (IBVS) task is addressed by a visual predictive approach. The trajectory tracking is formulated into a nonlinear optimization problem in the image plane. The unavoidable constraints in experiments are easily taken into account in the design of the predictive con...

This paper proposes a control strategy for the deep sea installation of wellhead equipments hanged by flow line structures, named risers. A fundamental step of this operation is the positioning of the equipment over the wellhead, which can be costly, time-consuming, and unfeasible in bad weather conditions. The approach taken considers the riser structure an Euler-Bernoulli beam submerged in a ...

model predictive controller is widely used in industrial plants. uncertainty is one of the critical issues in real systems. in this paper, the direct adaptive simplified model predictive control (smpc) is proposed for unknown or time varying plants with uncertainties. by estimating the plant step response in each sample, the controller is designed and the controller coefficients are directly ca...

A full authority helicopter control design based on differential flatness is presented. The concept of outer flatness is deployed for the design. The position dynamics and attitude dynamics are treated as the outer and inner systems respectively. The proposed design is based on an approximate model which is differentially flat, and then modified for the exact model. Given a desired trajectory i...

in this paper, a novel method is developed for designing the output feedback controller for static synchronous series compensator (sssc). in the proposed method, the problem of selecting the output feedback gains for the sssc controllers is changed into an optimization problem with a time domain-based objective function.then, it is solved by using the particle swarm optimization (pso) algorithm...