7 papers
Adaptive Prescribed Performance Trajectory Tracking for Uncertain Autonomous Underwater Vehicles With Input Saturation
Athanasios K. Gkesoulis, Christos Vlachos, George K. Fourlas +2
Accurate trajectory tracking is essential for autonomous underwater vehicles operating with uncertain hydrodynamics and limited thruster authority. This paper develops a low-comple…
Integrating Prescribed Performance and RISE Control for Asymptotic Tracking of Uncertain High-Order Nonlinear Systems
Athanasios K. Gkesoulis, Christos K. Verginis, George C. Karras +1
This paper addresses asymptotic tracking with prescribed transient and steady-state performance for a class of uncertain high-order nonlinear systems with uncertain dynamics. The p…
Prescribed Performance Leader-Following Consensus with Event-Based Broadcasting
Athanasios K. Gkesoulis, Haris E. Psillakis, George C. Karras +1
This paper develops a prescribed performance leader-following consensus protocol for directed networks under event-based broadcasting. Each node schedules its transmissions using o…
Multirotor Nonlinear Model Predictive Control based on Visual Servoing of Evolving Features
Sotirios N. Aspragkathos, Panagiotis Rousseas, George C. Karras +1
This article presents a Visual Servoing Nonlinear Model Predictive Control (NMPC) scheme for autonomously tracking a moving target using multirotor Unmanned Aerial Vehicles (UAVs).…
A Distributed Predictive Control Approach for Cooperative Manipulation of Multiple Underwater Vehicle Manipulator Systems
Shahab Heshmati-Alamdari, George C. Karras, Kostas J. Kyriakopoulos
This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace involving static obstac…
Decentralized Impedance Control for Cooperative Manipulation of Multiple Underwater Vehicle Manipulator Systems under Lean Communication
Shahab Heshmati-alamdari, Charalampos P. Bechlioulis, George C. Karras +1
This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace with static obstacles,…
A Robust Model Predictive Control Approach for Autonomous Underwater Vehicles Operating in a Constrained workspace
Shahab Heshmati-alamdari, George C. Karras, Panos Marantos +1
This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The pu…