2 citations · 3 across the 18 of their papers we have counts for
13 papers · 1 filter
Reduced Order Observers for Monocular Visual Inertial Odometry
Amel Abi, Mouaad Boughellaba, Miaomiao Wang +1
This work develops a reduced order observer framework of monocular visual-inertial odometry (VIO). The key idea consists in considering the gravity vector in the body-frame as an a…
Leader-follower Attitude Synchronization of Rigid-body Systems on SO(3)
Yiliang Li, Jun-e Feng, Abdelhamid Tayebi
This paper addresses the leader-follower attitude synchronization problem on for a group of heterogeneous rigid body systems. The reference attitude, represented b…
Velocity-free Attitude Synchronization Using Vector Measurements
Melika Afshari, Mouaad Boughellaba, Abdelhamid Tayebi
This paper addresses the velocity-free leaderless and leader--follower distributed attitude synchronization of a network of rigid body systems, with inertial vector measurements, u…
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 quadrotor UAVs subject to input constraints. Our proposed approach relies on a hierarchical control strategy…
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…