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Showing 1 to 3 of 3 for “"geometric controller"”.
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Discrete-time Stable Geometric Controller and Observer Designs for Unmanned Vehicles
<p>In the first part of this dissertation, we consider tracking control of underactuated systems on the tangent bundle of the six-dimensional Lie group of rigid body motions, SE(3). We formulate both asymptotically and finite-time stable tracking control schemes for underactuated rigid bodies that …
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Soft Aerial Manipulation
… the two subsystems and employing (i) a geometric controller and a minimum-snap trajectory optimization for the quadrotor (rigid) base, and (ii) a quasi-static finite element model and control-space interpolation for the soft gripper. We prove that the geometric controller asymptotically …
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Piecewise Bézier curve trajectory generation and control for quadrotors
Quadrotors have the capability of being immensely useful vehicles to aid humans in labor intensive tasks. The critical challenge of using quadrotors inside homes is the efficient navigation of these vehicles in tight spaces while avoiding obstacles. Although methods exists to generate collision …