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Nonlinear Control and Robot Laboratory Nonlinear Control and Robot Laboratory has been conducting the research on the investigation of control theories and its application to automatic systems including robot systems. The area of control theory includes the nonlinear, robust, and adaptive control theories for general nonlinear systems and the development of SOS (sum-of-squares) based control algorithms for nonlinear polynomial systems.
The application area includes the followings: i) vision-based tracking control and formation control of wheeled mobile robot systems ii) vision-based estimation and control algorithms of quadrotor systems iii) motion and range estimation of the moving object using the monocular camera iv) robust nonlinear control of underactuated mechanical systems (e.g., pendulum, crane, hovercraft, etc.)
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| Vision based WMR tracking control without velocity sensor |
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Robust control of pendubot using robust disturbance observer |
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Autonomous flight control of robot bird |
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Vision-based marker tracking control of manipulator |
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| Vision-based corridor tracking control |
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Hovering control of quadrotor system |
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Coupled sliding mode swing-up and balancing control of Furuta pendulum |
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Robust tracking control of omnidirectional mobile robot |
