26 citations · 40 across the 4 of their papers we have counts for
4 papers
Quad: Adaptive Augmentation of Geometric Control for Agile Quadrotors with Performance Guarantees
Zhuohuan Wu, Sheng Cheng, Pan Zhao +6
Quadrotors that can operate predictably in the presence of imperfect model knowledge and external disturbances are crucial in safety-critical applications. We present L1Quad, a con…
Geometric Tracking Control of Omnidirectional Multirotors for Aggressive Maneuvers
Hyungyu Lee, Sheng Cheng, Zhuohuan Wu +3
An omnidirectional multirotor has the maneuverability of decoupled translational and rotational motions, superseding the traditional multirotors' motion capability. Such maneuverab…
Adaptive Augmentation for Geometric Tracking Control of Quadrotors
Zhuohuan Wu, Sheng Cheng, Kasey A. Ackerman +4
This paper introduces an adaptive control augmentation for geometric tracking control of quadrotors. In the proposed design, the augmentation handle…
Contraction -Adaptive Control using Gaussian Processes
Aditya Gahlawat, Arun Lakshmanan, Lin Song +4
We present -, a control framework that enables safe simultaneous learning and control for systems subject to uncertainties. The two main constituents…