Geometric Control

Geometric control leverages differential geometry to design controllers for complex dynamical systems, aiming for precise trajectory tracking and robust performance even under uncertainties or disturbances. Current research emphasizes applications in robotics, particularly for unmanned aerial vehicles (UAVs) and wheeled robots, focusing on algorithms like geometric impedance control and adaptive control methods (e.g., L1 adaptive control) to handle model inaccuracies and external forces. These advancements improve the agility, safety, and efficiency of robotic systems in diverse applications, from autonomous racing and payload transport to assistive technologies for mobile robots.