6 citations · 17 across the 14 of their papers we have counts for
14 papers
The Robust Gait of a Tilt-rotor and Its Application to Tracking Control -- Application of Two Color Map Theorem
Zhe Shen, Takeshi Tsuchiya
Rylls tilt-rotor is a UAV with eight inputs; the four magnitudes of the thrusts as well as four tilting angles of the thrusts can be specified in need, e.g., based on a control rul…
Generalized Two Color Map Theorem -- Complete Theorem of Robust Gait Plan for a Tilt-rotor
Zhe Shen, Yudong Ma, Takeshi Tsuchiya
Gait plan is a procedure that is typically applied on the ground robots, e.g., quadrupedal robots; the tilt-rotor, a novel type of quadrotor with eight inputs, is not one of them.…
Four-dimensional Gait Surfaces for A Tilt-rotor -- Two Color Map Theorem
Zhe Shen, Yudong Ma, Takeshi Tsuchiya
This article presents the four-dimensional surfaces which instruct the gait plan for a tilt-rotor. The previous gaits analyzed in the tilt-rotor research are inspired by animals; n…
Feedback Linearization Based Tracking Control of A Tilt-rotor with Cat-trot Gait Plan
Zhe Shen, Yudong Ma, Takeshi Tsuchiya
With the introduction of the laterally bounded forces, the tilt-rotor gains more flexibility in the controller design. Typical feedback linearization methods utilize all the inputs…
Cat-inspired Gaits for A Tilt-rotor -- from Symmetrical to Asymmetrical
Zhe Shen, Takeshi Tsuchiya
Among the tilt-rotors (quadrotors) developed in the last decades, Rylls model with eight inputs (four magnitudes of the thrusts and four tilting angles) attracted great attention.…
Gait Analysis for A Tilt-rotor: The Dynamic Invertible Gait
Zhe Shen, Takeshi Tsuchiya
Conventional Feedback-Linearization-based controller, applied to the tilt-rotor (eight inputs), results in the extensive changes in the tilting angles, which are not expected in pr…
Stability Analysis of a Feedback-linearization-based Controller with Saturation: A Tilt Vehicle with the Penguin-inspired Gait Plan
Zhe Shen, Yudong Ma, Takeshi Tsuchiya
Saturations in control signal can challenge the stability proof of a feedback-linearization-based controller, even leading the system unstable [1]. Thus, several approaches are est…
State Drift and Gait Plan in Feedback Linearization Control of A Tilt Vehicle
Zhe Shen, Takeshi Tsuchiya
To stabilize a conventional quadrotor, simplified equivalent vehicles, e.g., autonomous car, are developed to test the designed controller. Based on that, various controllers based…
Singular Zone in Quadrotor Yaw-Position Feedback Linearization
Zhe Shen, Takeshi Tsuchiya
It is well known that the conventional quadrotor is an under-actuated MIMO system. The number of the inputs is less than the degree of freedom. One approach in controlling this non…
The Pareto-frontier-based Stiffness of A Controller: Trade-off between Trajectory Plan and Controller Design
Zhe Shen, Takeshi Tsuchiya
Approaching a set goal for a UAV comprises a trajectory plan and a controller design (control after plan problems). The optimal trajectory (reference) is calculated before being tr…
Quad-cone-rotor: A Novel Tilt Quadrotor with Severe-fault-tolerant Ability
Zhe Shen, Yudong Ma, Takeshi Tsuchiya
Conventional quadrotors received great attention in trajectory design and fault-tolerant control in these years. The direction of each thrust is perpendicular to the body because o…
A Novel Formula Calculating the Dynamic State Error and Its Application in UAV Tracking Control Problem
Zhe Shen, Takeshi Tsuchiya
This paper gives a novel formula (Copenhagen Limit) to calculate/estimate the dynamic state error of a system without a feedforward signal. Copenhagen Limit is in the form of a lim…
Stability-Certified Reinforcement Learning via Spectral Normalization
Ryoichi Takase, Nobuyuki Yoshikawa, Toshisada Mariyama +1
In this article, two types of methods from different perspectives based on spectral normalization are described for ensuring the stability of the system controlled by a neural netw…
Global Sensitivity Analysis via Multi-Fidelity Polynomial Chaos Expansion
Pramudita Satria Palar, Lavi Rizki Zuhal, Koji Shimoyama +1
The presence of uncertainties are inevitable in engineering design and analysis, where failure in understanding their effects might lead to the structural or functional failure of…