Related papers: Multicopter attitude control for recovery from lar…
The complex tasks such as surveillance, construction, search and rescue can benefit of the maneuverability of multirotor Micro Aerial Vehicles (MAVs) to obtain robust, cooperative system behavior and formation control is a prominent…
In this paper the stability of a closed-loop cascade control system in the trajectory tracking task is addressed. The considered plant consists of underlying second-order fully actuated perturbed dynamics and the first order system which…
We present the stability analysis for the new regulation-triggered approach to adaptive control introduced in a companion paper. Due to the fact that the closed-loop system is hybrid, our proofs have essential differences from the…
Aerial manipulators, composed of multirotors and robotic arms, have a structure and function highly reminiscent of avian species. This paper studies the tracking control problem for aerial manipulators. This paper studies the tracking…
Sliding mode control (SMC) is a robust and computationally efficient solution for tracking control problems of highly nonlinear systems with a great deal of uncertainty. High frequency oscillations due to chattering phenomena and…
This paper proposes an adaptive tracking strategy with mass-inertia estimation for aerial transportation problems of multi-rotor UAVs. The dynamic model of multi-rotor UAVs with disturbances is firstly developed with a linearly…
A fail-safe algorithm in case of motor failure was developed, simulated, and tested. For practical fail-safe flight, the quadcopter may fly with only three or two opposing propellers. Altitude for two-propeller architecture was maintained…
The paper considers a motion control problem for kinematic models of nonholonomic wheeled systems. The class of maneuverable wheeled systems is defined consisting of systems that can follow any sufficiently smooth non-stop trajectory on the…
Envisioned applications for humanoid robots call for the design of balancing and walking controllers. While promising results have been recently achieved, robust and reliable controllers are still a challenge for the control community…
The study addresses the problem of quadcopter motion control using output feedback. By applying a geometric approach, the quadcopter model is transformed into a normal form with a time-varying gain coefficient, which is subsequently made…
This paper proposed a novel fully-actuated hexacopter. It features a dual-frame passive tilting structure and achieves independent control of translational motion and attitude with minimal actuators. Compared to previous fully-actuated…
This paper addresses the problem of steering a robotic vehicle along a geometric path specified with respect to a reference frame moving in three dimensions, termed the Moving Path Following (MPF) motion control problem. The MPF motion…
This article aims to derive a practical tracking control algorithm for flexible air-breathing hypersonic vehicles (FAHVs) with lumped disturbances, unmeasurable states and actuator failures. Based on the framework of the backstepping…
Reinforcement learning-based controller design methods often require substantial data in the initial training phase. Moreover, the training process tends to exhibit strong randomness and slow convergence. It often requires considerable time…
Aerial manipulators are composed of an aerial multi-rotor that is equipped with a 6-DOF servo robot arm. To achieve precise position and attitude control during the arm's motion, it is critical for the system to have high performance…
We propose a simple, practical and intuitive approach to improve the performance of a conventional controller in uncertain environments using deep reinforcement learning while maintaining safe operation. Our approach is motivated by the…
Safety and stability are common requirements for robotic control systems; however, designing safe, stable controllers remains difficult for nonlinear and uncertain models. We develop a model-based learning approach to synthesize robust…
A complete model of quadcopter motion for the task of dynamic positioning at a specified point is derived. Based on this model, two control algorithms are proposed. The first one generalizes previously obtained results to the case of a…
Quadrotors have gained popularity over the last decade, aiding humans in complex tasks such as search and rescue, mapping and exploration. Despite their mechanical simplicity and versatility compared to other types of aerial vehicles, they…
Though control algorithms for multirotor Unmanned Air Vehicle (UAV) are well understood, the configuration, parameter estimation, and tuning of flight control algorithms takes quite some time and resources. In previous work, we have shown…