Related papers: A Review of Control Algorithms for Autonomous Quad…

Integrating unmanned aerial vehicles into daily use requires controllers that ensure stable flight, efficient energy use, and reduced noise. Proportional integral derivative controllers remain standard but are highly sensitive to gain…

Aerial robots can enhance their safe and agile navigation in complex and cluttered environments by efficiently exploiting the information collected during a given task. In this paper, we address the learning model predictive control problem…

As quadrotors take on an increasingly diverse range of roles, researchers often need to develop new hardware platforms tailored for specific tasks, introducing significant engineering overhead. In this article, we introduce the UniQuad…

This paper investigates tracking controls for an arbitrary number of cooperating quadrotor unmanned aerial vehicles with a suspended rigid body payload. Assuming that a rigid body is connected to multiple quadrotors by rigid massless links,…

This paper deals with the dynamics and controls of a quadrotor unmanned aerial vehicle that is connected to a fixed point on the ground via a tether. Tethered quadrotors have been envisaged for long-term aerial surveillance with high-speed…

An optimal control law for networked control systems with a discrete-time linear time-invariant (LTI) system as plant and networks between sensor and controller as well as between controller and actuator is proposed. This controller is…

The problem of safety for robotic systems has been extensively studied. However, little attention has been given to security issues for three-dimensional systems, such as quadrotors. Malicious adversaries can compromise robot sensors and…

This paper presents a geometric adaptive control scheme for a quadrotor unmanned aerial vehicle, where the effects of unknown, unstructured disturbances are mitigated by a multilayer neural network that is adjusted online. The stability of…

Proportional-Integrator-Derivative (PID) controller is used in a wide range of industrial and experimental processes. There are a couple of offline methods for tuning PID gains. However, due to the uncertainty of model parameters and…

This paper presents an overview of the most effective ideas for the Quad-rotor project. The concept of modeling using different methods is presented. The modeling part presented the nonlinear model, and the concept of linearization using…

We consider adaptive control of the Linear Quadratic Regulator (LQR), where an unknown linear system is controlled subject to quadratic costs. Leveraging recent developments in the estimation of linear systems and in robust controller…

This paper proposes a geometric adaptive controller for a quadrotor unmanned aerial vehicle with artificial neural networks. It is assumed that the dynamics of a quadrotor is disturbed by arbitrary, unstructured forces and moments caused by…

This paper introduces a safety filter to ensure collision avoidance for multirotor aerial robots. The proposed formalism leverages a single Composite Control Barrier Function from all position constraints acting on a third-order nonlinear…

Quadrotor systems are common and beneficial for many fields, but their intricate behavior often makes it challenging to design effective and optimal control strategies. Some traditional approaches to nonlinear control often rely on local…

Brain-controlled unmanned aerial vehicle (uav) is a uav that can analyze human brain electrical signals through BCI to obtain flight commands. The research of brain-controlled uav can promote the integration of brain-computer and has a…

This paper addresses modeling and control of a six-degree-of-freedom unmanned aerial vehicle capable of vertical take-off and landing in the presence of wind disturbances. We design a hybrid vehicle that combines the benefits of both the…

This thesis introduces a novel quadrotor manipulation system that consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrotor manipulation system…

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…

Overactuated Tilt Rotor Unmanned Aerial Vehicles are renowned for exceptional wind resistance and a broad operational range, which poses complex control challenges due to non-affine dynamics. Traditional solutions employ multi-state…

This work addresses the problem of robust attitude control of quadcopters. First, the mathematical model of the quadcopter is derived considering factors such as nonlinearity, external disturbances, uncertain dynamics and strong coupling.…