Related papers: Cascaded Incremental Nonlinear Dynamic Inversion C…
In this paper, we study the control design of an automatic crosswind stabilization system for a novel, buoyantly-assisted aerial transportation vehicle. This vehicle has several advantages over other aircraft including the ability to…
Attitude stabilization of unmanned aerial vehicles (UAVs) in uncertain environments presents significant challenges due to nonlinear dynamics, parameter variations, and sensor limitations. This paper presents a comparative study of…
This paper presents a new improved nonlinear tracking differentiator (INTD) with hyperbolic tangent function in the state space system. The stability and convergence of the INTD are thoroughly investigated and proved. Through the error…
The stability and control of Unmanned Aerial Vehicles (UAVs) in a turbulent environment is a matter of great concern. Devising a robust control algorithm to reject disturbances is challenging due to the highly nonlinear nature of wind…
Wind disturbances remain a key barrier to reliable autonomous navigation for lightweight quadrotors, where the rapidly varying airflow can destabilize both planning and tracking. This paper introduces GustPilot, a hierarchical…
This paper presents a cascaded control architecture, based on nonlinear dynamic inversion (NDI), for rigid body attitude control. The proposed controller works directly with the rotation matrix parameterization, that is, with elements of…
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…
This paper presents a comprehensive approach to nonlinear dynamics identification for UAVs using a combination of data-driven techniques and theoretical modeling. Two key methodologies are explored: Proportional-Derivative (PD)…
This paper deals with the simultaneous gust and maneuver load alleviation problem of a seamless active morphing wing. The incremental nonlinear dynamic inversion with quadratic programming control allocation and virtual shape functions…
The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…
Autonomous underwater vehicles (AUVs) play a crucial role in surveying marine environments, carrying out underwater inspection tasks, and ocean exploration. However, in order to ensure that the AUV is able to carry out its mission…
This paper presents a robust cascaded control architecture for over-actuated multirotors. It extends the Incremental Nonlinear Dynamic Inversion (INDI) control combined with structured H_inf control, initially proposed for under-actuated…
This work presents a cascaded hybrid control framework for quadrotor trajectory tracking under nonlinear dynamics and external disturbances. In quadrotor systems, the altitude and attitude channels exhibit fast, structured dynamics that are…
This paper first demonstrates that applying standard incremental nonlinear dynamic inversion (INDI) with incremental control allocation (ICA) to input nonaffine systems relies on an untenable linear approximation of the actuator model. It…
Model Predictive Path Integral (MPPI) is a popular sampling-based Model Predictive Control (MPC) algorithm for nonlinear systems. It optimizes trajectories by sampling control sequences and averaging them. However, a key issue with MPPI is…
This paper applies the UAV to the inspection of water diversion pipelines in hydropower stations. The diversion pipeline is an enclosed space, so the airflow disturbance caused by the rotation of the UAV blades and the strong air convection…
Many multirotor Unmanned Aerial Systems applications have a critical need for precise position control in environments with strong dynamic external disturbances such as wind gusts or ground and wall effects. Moreover, to maximize flight…
Airships offer unique operational advantages due to their ability to generate lift via buoyancy, enabling low-speed flight and stationary hovering. These capabilities make them ideal for missions requiring endurance and precision…
The canonical proportional-integral-derivative (PID) control approach has been widely used in industrial application due to their simplicity and ease of use. However, its corresponding controller parameters are hard to be adjusted,…
Wind resistance control is an essential feature for quadcopters to maintain their position to avoid deviation from target position and prevent collisions with obstacles. Conventionally, cascaded PID controller is used for the control of…