6 citations · 18 across the 5 of their papers we have counts for
5 papers
Perch like a bird: bio-inspired optimal maneuvers and nonlinear control for Flapping-Wing Unmanned Aerial Vehicles
C. Ruiz, J. Á. Acosta
This research endeavors to design the perching maneuver and control in ornithopter robots. By analyzing the dynamic interplay between the robot's flight dynamics, feedback loops, a…
Completeness of Riemannian metrics: an application to the control of constrained mechanical systems
José Ángel Acosta, Anthony Bloch, David Martín de Diego
We introduce a mathematical technique based on modifying a given Riemannian metric and we investigate its applicability to controlling and stabilizing constrained mechanical system…
Unified Force and Motion Adaptive-Integral Control of Flexible Robot Manipulators
Carlos R. de Cos, José Ángel Acosta
In this paper, an adaptive nonlinear strategy for the motion and force control of flexible manipulators is proposed. The approach provides robust motion control until contact is de…
Experimental method for perching flapping-wing aerial robots
Raphael Zufferey, Daniel Feliu-Talegon, Saeed Rafee Nekoo +2
In this work, we present an experimental setup and guide to enable the perching of large flapping-wing robots. The combination of forward flight, limited payload, and flight oscill…
Robust data-driven learning and control of nonlinear systems. A Sontag's formula approach
Yeyson A. Becerra-Mora, José Ángel Acosta
An interlaced method to learn and control nonlinear system dynamics from a set of demonstrations is proposed, under a constrained optimization framework for the unsupervised learni…