Stability Guarantees for Translational Thrust-Propelled Vehicles Dynamics Through NMPC Designs

Control of Thrust-Propelled Underactuated Vehicles

Motion Coordination of Thrust-Propelled Underactuated Vehicles in the Presence of Communication Delays

This paper addresses the coordinated control problem of underactuated thrustpropelled vehicles in the presence of irregular communication delays under a directed communication graph topology. We propose a distributed control algorithm that drives the vehicles to a prescribed formation provided that the communication graph contains a spanning tree. Using the multi-dimensional small-gain approach...

Distributed backstepping control of multiple thrust-propelled vehicles on a balanced graph

We propose novel distributed exponentially-converging control frameworks for flocking and centroid trajectory tracking of multiple thrust-propelled vehicles (TPVs), which consist of the under-actuated translation dynamics on E(3) with one-dimensional thrust-force input and the fully-actuated attitude kinematics on SO(3) with angular-rates inputs; and evolves on a strongly-connected, yet, balanc...

Translational vehicles for neuroprotection.

This review will analyse particular criteria in the analysis of stroke diagnosis and treatment, which are pivotal for the successful translation of experimental data from the laboratory to humans.

Stability of NMPC with Cyclic Horizons

In this paper we present stability conditions for nonlinear model predictive control with cyclically varying horizons. Starting from a maximum horizon length, the horizon is reduced by one at each sampling time until a minimum horizon length is reached, at which the horizon is increased to the maximum length. The approach allows to utilize shapes and structures in the terminal constraints, whic...