13 papers
Dynamic Constrained Stabilization on the n-sphere
Mayur Sawant, Abdelhamid Tayebi
We consider the constrained stabilization problem of second-order systems evolving on the n-sphere. We propose a control strategy with a constraint proximity-based dynamic damping…
MPC-Based Trajectory Tracking for a Quadrotor UAV with Uniform Semi-Global Asymptotic Stability Guarantees
Qian Yang, Miaomiao Wang, Abdelhamid Tayebi
This paper proposes a model predictive trajectory tracking approach for quadrotors subject to input constraints. Our proposed approach relies on a hierarchical control strategy wit…
Distributed Hybrid Feedback for Global Pose Synchronization of Multiple Rigid Body Systems on
Fengyu Lin, Miaomiao Wang, Housheng Su +1
This paper investigates the problem of pose synchronization for multiple rigid body systems evolving on the matrix Lie group $\SE(3)$. We propose a distributed hybrid feedback cont…
Robust Adaptive Learning Control for a Class of Non-affine Nonlinear Systems
Shuai Gao, Dong Shen, Abdelhamid Tayebi
We address the tracking problem for a class of uncertain non-affine nonlinear systems with high relative degrees, performing non-repetitive tasks. We propose a rigorously proven, r…
A Leader-Follower Approach for The Attitude Synchronization of Multiple Rigid Body Systems on
Yiliang Li, Jun-e Feng, Abdelhamid Tayebi
This paper deals with the leader-follower attitude synchronization problem for a group of heterogeneous rigid body systems on under an undirected, connected, and acyclic gr…
Nonlinear Observer Design for Visual-Inertial Odometry
Mouaad Boughellaba, Abdelhamid Tayebi, James R. Forbes +1
This paper addresses the problem of Visual-Inertial Odometry (VIO) for rigid body systems evolving in three-dimensional space. We introduce a novel matrix Lie group structure, deno…