Related papers: Unscented External Force and Torque Estimation for…
This paper presents a novel method for fast and robust detection of actuator failures on quadrotors. The proposed algorithm has very little model dependency. A Kalman filter estimator estimates a stochastic effectiveness factor for every…
Stabilization of a quadrotor without a controller based on cascade structure is a challenging problem. Besides, due to the dynamics and the number of underactuation, an energy shaping controller has not been designed in 3D for a quadrotor.…
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…
This study investigates the theoretical and computational aspects of quaternion generalized inverses, focusing on outer inverses and {1,2}-inverses with prescribed range and/or null space constraints. In view of the non-commutative nature…
Autonomous missions of small unmanned aerial vehicles (UAVs) are prone to collisions owing to environmental disturbances and localization errors. Consequently, a UAV that can endure collisions and perform recovery control in critical aerial…
Perching is a promising solution for a small unmanned aerial vehicle (UAV) to save energy and extend operation time. This paper proposes a quadrotor that can perch on planar structures using the ceiling effect. Compared with the existing…
Drones are becoming more and more popular nowadays. They are small in size, low in cost, and reliable in operation. They contain a variety of sensors and can perform a variety of flight tasks, reaching places that are difficult or…
The study of dexterous manipulation has provided important insights in humans sensorimotor control as well as inspiration for manipulation strategies in robotic hands. Previous work focused on experimental environment with restrictions.…
This paper proposes a model predictive trajectory tracking approach for quadrotors subject to input constraints. Our proposed approach relies on a hierarchical control strategy with an outer-loop feedback generating the required thrust and…
We present new theoretical tools, based on fluctuational electrodynamics and the integral-equation approach to computational electromagnetism, for numerical modeling of forces and torques on bodies of complex shapes and materials due to…
We study the stationary and nonstationary measurement of a classical force driving a mechanical oscillator coupled to an electromagnetic cavity under two-tone driving. For this purpose, we develop a theoretical framework based on the…
Dynamic morphing wing flights present significant challenges in accurately estimating external forces due to complex interactions between aerodynamics, rapid wing movements, and external disturbances. Traditional force estimation methods…
This paper presents a velocity-free position control strategy for quadrotor unmanned aerial vehicles based on nonlinear negative imaginary (NNI) systems theory. Unlike conventional position control schemes that require velocity measurements…
Wind turbines are often controlled to harvest the maximum power from the wind, which corresponds to the operation at the top of the bell-shaped power coefficient graph. Such a mode of operation may be achieved implementing an extremum…
Nonperturbative spin-dependent forces of quarks in a baryon are calculated directly from the QCD Lagrangian in the framework of the Field Correlator Method both for heavy and light quarks. Resulting forces contain terms of 5 different…
Many physical phenomena involving mobile agents involve time-varying scalar fields, e.g., quadrotors that emit noise. As a consequence, agents can influence and can be influenced by various environmental factors such as noise. This paper…
The inclusion of electromagnetic effects in unquenched QCD can be accomplished using ensembles generated in dynamical simulations with pure QCD provided the change in the quark determinant induced by a weak electromagnetic field can be…
This work proposes a strategy for organising quadrotors around a payload to enable hovering without external stimuli, together with a MATLAB software for modelling the dynamics of a quadrotor-payload system. Based on geometric concepts, the…
In this article, a developed, manufactured and tested model of a new type generator is presented, which allows to differentiate and predict, with probability close to 1, coasting characteristics of the rotor during its clockwise and…
This Note determines the unsteady non-circulatory forces on an arbitrarily deforming panel with a Holder-continuous porosity distribution. An analytical expression for the non-circulatory pressure distribution is presented and evaluated for…