dc.contributor.author | Lopez, Brett T. | |
dc.contributor.author | Slotine, Jean-Jacques E | |
dc.contributor.author | How, Jonathan P. | |
dc.date.accessioned | 2020-04-14T14:56:47Z | |
dc.date.available | 2020-04-14T14:56:47Z | |
dc.date.issued | 2018-09 | |
dc.identifier.isbn | 9781538630815 | |
dc.identifier.isbn | 978-1-5386-3080-8 | |
dc.identifier.isbn | 978-1-5386-3082-2 | |
dc.identifier.issn | 2577-087X | |
dc.identifier.uri | https://hdl.handle.net/1721.1/124620 | |
dc.description.abstract | Recent advances in perception and planning algorithms have enabled robots to navigate autonomously through unknown, cluttered environments at high-speeds. A key component of these systems is the ability to identify, select, and execute a safe trajectory around obstacles. Many of these systems, however, lack performance guarantees because model uncertainty and external disturbances are ignored when a trajectory is selected for execution. This work leverages results from nonlinear control theory to establish a bound on tracking performance that can be used to select a provably safe trajectory. The Composite Adaptive Sliding Controller (CASC) provides robustness to disturbances and reduces model uncertainty through high-rate parameter estimation. CASC is demonstrated in simulation and hardware to significantly improve the performance of a quadrotor navigating through unknown environments with external disturbances and unknown model parameters. Keywords: Trajectory; Electron tubes; Uncertainty; Robustness; Optimization; Adaptation models | en_US |
dc.description.sponsorship | National Science Foundation Graduate Research Fellowship (Grant No. 1122374) | en_US |
dc.description.sponsorship | DARPA Fast Lightweight Autonomy (FLA) Program. | en_US |
dc.language.iso | en | |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | en_US |
dc.relation.isversionof | http://dx.doi.org/10.1109/icra.2018.8460817 | en_US |
dc.rights | Creative Commons Attribution-Noncommercial-Share Alike | en_US |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-sa/4.0/ | en_US |
dc.source | Other repository | en_US |
dc.title | Robust Collision Avoidance via Sliding Control | en_US |
dc.type | Article | en_US |
dc.identifier.citation | Lopez, Brett T., Slotine, Jean-Jacques and How, Jonathan P. "Robust Collision Avoidance via Sliding Control." 2018 IEEE International Conference on Robotics and Automation, 21-25 May 2018, Brisbane, QLD, Australia, edited by Kevin Lynch et al. Institute of Electrical and Electronics Engineers (IEEE), 2018 | en_US |
dc.contributor.department | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics | en_US |
dc.contributor.department | Massachusetts Institute of Technology. Aerospace Controls Laboratory | en_US |
dc.relation.journal | 2018 IEEE International Conference on Robotics and Automation | en_US |
dc.eprint.version | Author's final manuscript | en_US |
dc.type.uri | http://purl.org/eprint/type/ConferencePaper | en_US |
eprint.status | http://purl.org/eprint/status/NonPeerReviewed | en_US |
dc.date.updated | 2019-10-28T16:20:17Z | |
dspace.date.submission | 2019-10-28T16:20:24Z | |
mit.metadata.status | Complete | |