Related papers: Bounded Control for Double Integrator in Quadrotor…
Unmanned Aerial Vehicles (UAVs) are now becoming increasingly accessible to amateur and com-mercial users alike. Several types of airspace structures are proposed in recent research, which include several structured free flight concepts. In…
This paper introduces an analytical framework for the derivation of hybrid equations of motion of a flexible quadrotor. This approach helps obtain rigid and elastic equations of motion simultaneously, in a decoupled form, which facilitates…
This paper proposes a cascaded control framework for quadrotor trajectory tracking with formal safety guarantees. First, we design a controller consisting of an outer-loop position model predictive control (MPC) and an inner-loop nonlinear…
In this paper, we present an autonomous flight controller for a quadcopter with thrust vectoring capabilities. This UAV falls in the category of multirotors with tilt-motion enabled rotors. Since the vehicle considered is over-actuated in…
The paper deals with the control and regulation by integral controllers forthe nonlinear systems governed by scalar quasi-linear hyperbolic partial differentialequations. Both the control input and the measured output are located on the…
Robot manipulators are often tasked with working in environments with vibrations and are subject to load uncertainty. Providing an accurate tracking control design with implementable torque input for these robots is a complex topic. This…
This paper deals with unit vector control design for multivariable polytopic uncertain systems under saturating actuators. For that purpose, we propose LMI-based conditions to design the unit vector control gain such that the origin of the…
This paper carries out the mathematical modeling, simulation, and control law design for a quadrotor with variable-pitch propellers. The use of variable-pitch propeller for thrust variation instead of RPM regulation facilitates generation…
This paper presents a novel method for assistive load carrying using quadruped robots. The controller uses proprioceptive sensor data to estimate external base wrench, that is used for precise control of the robot's acceleration during…
We propose an abstract framework for solving the constrained set-point tracking problem for impedance passive infinite-dimensional nonlinear systems. The class of systems considered is governed by monotone differential inclusions and allows…
The attitude control of a quadrotor is a fundamental problem, which has a pivotal role in a quadrotor stabilization and control. What makes this problem more challenging is the presence of uncertainty such as unmodelled dynamics and unknown…
Many robotic systems must follow planned paths yet pause safely and resume when people or objects intervene. We present an output-space method for systems whose tracked output can be feedback-linearized to a double integrator (e.g.,…
Collocated adaptive control of underactuated systems is still a main concern for the control community, all the more so because the collocated dynamics is no longer linear with respect to the constant base parameters. This work extends and…
In this paper, we present Lyapunov-based {\color{black}time varying} controllers for {\color{black}fast} stabilization of a perturbed chain of integrators with bounded uncertainties. We refer to such controllers as {\color{black}time…
This paper addresses the trajectory tracking control problem for underactuated VTOL UAVs. According to the different actuation mechanisms, the most common UAV platforms can achieve only a partial decoupling of attitude and position tasks.…
The rapid development of unmanned aerial vehicles (UAV) puts forward a higher requirement for autonomous obstacle avoidance. Due to the limited payload and power supply, small UAVs such as quadrotors usually carry simple sensors and…
Conventional quadrotors received great attention in trajectory design and fault-tolerant control in these years. The direction of each thrust is perpendicular to the body because of the geometrics in mechanical design. Comparing with the…
Aerial robots are required to remain operational even in the event of system disturbances, damages, or failures to ensure resilient and robust task completion and safety. One common failure case is propeller damage, which presents a…
This paper presents a switched model reference admittance control framework to achieve safe and compliant human-robot collaboration through reference trajectory shaping. The proposed method generates variable admittance parameters according…
The Modboat is an autonomous surface robot that turns the oscillation of a single motor into a controlled paddling motion through passive flippers. Inertial control methods developed in prior work can successfully drive the Modboat along…