2 papers
eess.SY2025
Switching control of underactuated multi-channel systems with input constraints for cooperative manipulation
Dongjae Lee, Dimos V. Dimarogonas, H. Jin Kim
This work presents an event-triggered switching control framework for a class of nonlinear underactuated multi-channel systems with input constraints. These systems are inspired by…
cs.RO2025
Autonomous Aerial Manipulation at Arbitrary Pose in SE(3) with Robust Control and Whole-body Planning
Dongjae Lee, Byeongjun Kim, H. Jin Kim
Aerial manipulators based on conventional multirotors can conduct manipulation only in small roll and pitch angles due to the underactuatedness of the multirotor base. If the multi…