Zhicheng Hou

Learn More
This paper addresses the problem of controlling a leader-follower formation of quadrotors (UAVs), which can be considered as a System of Systems. A distributed control scheme for the motion of the formation is proposed, ensuring consensus of the UAVs and collision avoidance. Each UAV has local and limited neighbors and uses weighted relative positions and(More)
The quad-rotor is expected to carry out many different tasks. It is hoped that the quad-rotor can have different characteristics according to the different mission requirements. For this reason, a flight stability augmentation control system based on explicit model following with inverse model feedforward control method is proposed in this paper. This(More)
A swing-up controller based on human simulated intelligence control theory is designed for three-link acrobot. According to the analysis of athletes' motion, swing-up process is divided by six sequence phases. We describe the six sequence phase by sensory-motor intelligence schema and design Bang-Bang and PD controller for every phase. With the controller,(More)
In this paper, we try to show the state of the art on the formation control of multiple quadrotors. From the literature, we summarize some most interested issues such as potential applications, representation of multiple quadrotor formation, consensus, formation control, formation configurations, localization, etc. According to these research, we point out(More)
This paper concerns the leader-follower multiple agent formation with nonlinear and coupled individual dynamics. We address the problem of multi-agent formation control by proposing a decentralized control strategy. The agents in the formation are quad-rotors UAVs. By attributing the high-order nonlinear and unmodelled dynamics as uncertainties, we propose(More)
This paper aims at modeling and nonlinear control of two-wheeled self-balancing robots based on gyroscope effect. An MIMO nonlinear dynamic mode is presented by using Euler-Lagrange method and Maple software to describe the self-balancing robot. Then a dual input-output sliding mode controller is designed to analyze the nonlinear system, and a simulation(More)
One challenge in dual arm robotic field is the description of cooperative tasks of the two arms. Traditional methods with translational vector and rotational matrix are complex, especially for dual arm cooperative tasks. In this paper, using the ability of dual quaternion based full dual position control strategies, it is possible to present the cooperative(More)
  • 1