Related papers: Bounded Control for Double Integrator in Quadrotor…
In this paper, we present a method to control a quadrotor with a neural network trained using reinforcement learning techniques. With reinforcement learning, a common network can be trained to directly map state to actuator command making…
This paper presents a simple method to boost the robustness of quadrotors in trajectory tracking. The presented method features a high-gain disturbance observer (HGDO) that provides disturbance estimates in real-time. The estimates are then…
The notion of safety in multi-agent systems assumes great significance in many emerging collaborative multi-robot applications. In this paper, we present a multi-UAV collaborative target-tracking application by defining bounded inter-UAV…
This work addresses the practical problem of distributed formation tracking control of a group of quadrotor vehicles in a relaxed sensing graph topology with a very limited sensor set, where only one leader vehicle can access the global…
We propose a learning-based trajectory tracking controller for autonomous robotic platforms whose motion can be described kinematically on $\mathrm{SE}(3)$. The controller is formulated in the dual quaternion framework and operates at the…
We propose a control protocol based on the prescribed performance control (PPC) methodology for a quadrotor unmanned aerial vehicle (UAV). Quadrotor systems belong to the class of underactuated systems for which the original PPC methodology…
This paper presents the inverse kinematic analysis and parameters identification of a novel aerial manipulation system. This system consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution…
The problem of control based on vision measurements (bearings) has been amply studied in the literature; however, the problem of addressing the limits of the field of view of physical sensors has received relatively less attention…
Quadrotor is often used to accomplish various missions related to surveillance, territory mapping, search and rescue, and other purposes. Quadrotor is a nonlinear system with multiple input multiple output and has stability issue due to…
Gain tuning is given for the twisting controller to ensure that the closed-loop trajectories of the perturbed double integrator, initialized within a bounded domain and affected by uniformly bounded disturbances, settle at the origin in…
With the advent of intelligent transport, quadrotors are becoming an attractive solution while lifting or dropping payloads during emergency evacuations, construction works, etc. During such operations, dynamic variations in (possibly…
Continuous-time control of multiple quadrotors in constrained environments under signal temporal logic (STL) specifications is critical due to their nonlinear dynamics, safety constraints, and the requirement to ensure continuous-time…
In order to meet the requirements for autonomous systems in real world applications, reliable path following controllers have to be designed to execute planned paths despite the existence of disturbances and model errors. In this paper we…
This paper presents a trajectory-tracking controller for multi-rotor unmanned aerial vehicles (UAVs) in scenarios where only the desired position and heading are known without the higher-order derivatives. The proposed solution modifies the…
The goal of this work is to enable a team of quadrotors to learn how to accurately track a desired trajectory while holding a given formation. We solve this problem in a distributed manner, where each vehicle has only access to the…
In order to further expand the flight envelope of quadrotors under actuator failures, we design a nonlinear sensor-based fault-tolerant controller to stabilize a quadrotor with failure of two opposing rotors in the high-speed flight…
Stabilization and trajectory control of a quadrotor carrying a suspended load with a fixed known mass has been extensively studied in recent years. However, the load mass is not always known beforehand or may vary during the practical…
The paper solves the problem of tracking control of a quadrotor with unmeasurable pitch and roll angles based on the geometric approach with the use of the enhanced extended observer and the internal model. The proposed approach makes it…
Micro aerial vehicles are widely being researched and employed due to their relative low operation costs and high flexibility in various applications. We study the under-actuated quadrotor perching problem, designing a trajectory planner…
Task space trajectory tracking for quadruped robots plays a crucial role on achieving dexterous maneuvers in unstructured environments. To fulfill the control objective, the robot should apply forces through the contact of the legs with the…