This paper presents an approach for designing path-following controllers the kinematic model of car-like mobile robots using transverse feedback linearization with dynamic extension. is applicable to a large class paths and its effectiveness experimentally demonstrated on Chameleon R100 Ackermann steering robot. Transverse makes desired path attractive invariant, while extension allows closed-loop system achieve motion along path.

This article addresses the design of a path following controller for payload tethered to quadrotor. Specifically, goal is smooth dynamic feedback that forces suspended converge and follow large class embedded curves. The given curve treated as manifold, set stabilization used find maximal control invariant manifold. guarantees once aerial robot approaches path, never leaves path. performance proposed verified through simulations with practical sensor noise parametric uncertainties. Moreover,...

This work presents a path following controller for quadrotor vehicle. A smooth, dynamic, feedback is designed that allows the to follow both closed and non-closed embedded curves while maintaining desired speed, acceleration or stabilizing points along curves. The nonlinear dynamic model of transformed into linear system via coordinate linearization transformation. Once transformed, guarantees invariance enforcing motion path.

In this article, we propose a novel family of Lie algebra valued functions <i xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">F</i> <sub xmlns:xlink="http://www.w3.org/1999/xlink">R</sub> on special orthogonal group SO(3). Each function belonging to induces controller that stabilizes rigid body attitude. All controllers induced by the form class xmlns:xlink="http://www.w3.org/1999/xlink">C</i> . This contains both local and almost-global...

This work proposes a hybrid framework for car-like robots with obstacle avoidance, global convergence, and safety, where safety is interpreted as path invariance, namely, once the robot converges to path, it never leaves path. Given priori obstacle-free feasible obstacles can be around task avoid while reaching then staying on without leaving it. The problem solved in two stages. Firstly, we define ``tight'' neighborhood along design local controller ensure convergence invariance. control...

This paper presents a path following controller for quadrotor UAV experiencing single rotor failure. A smooth, dynamic feedback control law is proposed that allows the to follow both closed and non-closed embedded curves while maintaining desired velocity profile along when one out of four motors completely disabled due The nonlinear model transformed into partially linear by coordinate transformation. designed system guarantees invariance path. uncontrolled portion dynamics (internal...

This article proposes a path following controller for the two input kinematic model of car-like robot. A smooth dynamic feedback control law is designed to make car's position follow large class curves with desired speed along curve. The guarantees property invariance. by characterizing manifold when one fixed. Once found we apply extension increase its dimension. We refer this process as tangential extension. then find physically meaningful differentially flat output extended system which...

Payload delivery using unmanned aerial vehicles (UAVs) has attained central importance for smart logistics and transportation systems in the context of fourth industrial revolution. This work considers problem designing a smooth dynamic feedback control law point mass payload suspended to quadrotor making load follow large class curves that includes both closed non-closed curves. Typically, path following is solved either coordinate-free or local-coordinate-based approach. However, this...

A large number of both aerial and underwater mobile robots fall in the category underactuated systems that are defined on a manifold, which is not isomorphic to Euclidean space. Traditional approaches designing controllers for such include geometric local coordinate-based representations. In this paper, we propose global parameterization special orthogonal group, denoted by SO(3), design path-following systems. particular, present nine-dimensional representation SO(3) leads achieving...

This paper presents a position-based visual servoing control system that allows quadrotor aerial robot with single onboard camera to track four degree of freedom relative pose trajectory respect free-moving unknown target object composed point features. The proposed vision is able estimate both the six motion and model structure using only images captured from recover scale minimal set inter-feature distances. An inner-loop attitude controller used an outer-loop position tracking law follow...

This paper proposes a hybrid geometric control scheme for the classical problem of globally stabilizing pointmass system on unit circle, as it is impossible to design smooth asymptotically stable controller this problem. Unlike most existing solutions that rely coordinates and particular construction, our proposed solution coordinate free (or geometric) belongs class controllers we also characterize. Specifically, propose uses local (from said class) an open-loop controller. The achieves...

<h3>Background:</h3> Historically, some chiropractors have been critical of vaccination, and this has the subject recent media attention in Canada. We explored association between public dissemination vaccination information on Canadian chiropractors’ websites. <h3>Methods:</h3> In 2016, we identified all websites that provided by extracting details from regulatory college website for each province using search engine their “find a chiropractor” page. assessed quality Web Resource Rating...

This paper proposes a hybrid geometric control scheme for system defined on matrix Lie group in the form of left-invariant vector field. Our solution to point stabilization problem is coordinate free (or geometric). Specifically, we propose controller that uses from local class controllers and an open-loop controller. method guarantees given manifold robustly globally asymptotically stable closed-loop when each combined with using systems framework.

We present a methodology for studying the stabilization problem of fully-actuated rotating rigid body. Since body attitude is represented by rotation matrix in three dimensions, we exploit this fact and use each element as parameter. This nine-parameter representation global well unique, results simplified set nonlinear differential equations. apply feedback linearization to design both local almost controllers. also propose two novel definitions functions, prove that they lead well-defined...

This paper proposes global accelerated nonconvex geometric (GANG) optimization algorithms for optimizing a class of functions on the compact Lie group SO(3). Nonconvex is challenging problem because objective function may have multiple critical points, including saddle points. We propose two to escape maxima and points using random perturbations. The first algorithm uses value Hessian perturbations undesired In contrast, second only gradient information efficacy these verified in simulations.

This paper addresses the multi-agent coordinated path following problem consisting of a class underactuated vehicles capable closed embedded curves in three-dimensional space and proposes solution using nested set stabilization approach. The first restricts each agent to assigned manifold ensures that system stays on indefinitely when initialized neighborhood path. Stabilizing second set, contained inside first, solves position, velocity, acceleration, or jerk-related coordination...