Related papers: Geometric Adaptive Control for a Quadrotor UAV wit…
Quadrotor unmanned aerial vehicles have a limited quantity of embedded energy. To preserve and guaranty the success of the UAV mission, we should manage energy consumption during the mission. In this study we introduce an optimization…
The feedback linearization method is further developed for the controller design on general nonlinear systems. Through the Lyapunov stability theory, the intractable nonlinear implicit algebraic control equations are effectively solved, and…
The paper presents a new, robust control algorithm for position trajectory tracking in a 3D space, dedicated to underactuated airships. In order to take into account real characteristics of such vehicles, and to reflect practically…
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…
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…
In this paper, we consider the problem of platooning control with mismatched disturbances using the distributed adaptive backstepping method. The main challenges are: (1) maintaining the compositionality and the distributed nature of the…
Carrier landing of aircrafts is a challenge for control due to the existence of nonlinear wind disturbances and the requirements of changing reference trajectories. In this paper, a robust landing control system is presented for carrier…
This paper introduces a learning-based low-level controller for quadcopters, which adaptively controls quadcopters with significant variations in mass, size, and actuator capabilities. Our approach leverages a combination of imitation…
This paper addresses the design and application controller for a small-size unmanned aerial vehicle (UAV). In this work, the main objective is to study the modeling and attitude controller design for a small size helicopter. Based on a…
This paper is an addition to an article previously published by three of the authors that addresses the control of convertible fixed-wing aircraft with vectorized thrust. The control solution here developed extends the one presented in the…
Reach-avoid specifications are one of the most common tasks in autonomous aerial vehicle (UAV) applications. Despite the intensive research and development associated with control of aerial vehicles, generating feasible trajectories though…
Hybrid unmanned aerial vehicles (UAVs) integrate the efficient forward flight of fixed-wing and vertical takeoff and landing (VTOL) capabilities of multicopter UAVs. This paper presents the modeling, control and simulation of a new type of…
By leveraging the underlying structures of the quadrotor dynamics, we propose multi-agent reinforcement learning frameworks to innovate the low-level control of a quadrotor, where independent agents operate cooperatively to achieve a common…
The aim of this article is the formulation of a switching model predictive control framework for the case of a foldable quadrotor with the ability to retain the overall control quality during online structural reformations. The majority of…
This article presents an adaptive nonlinear delayed feedback control scheme for stabilizing the unstable periodic orbit of unknown fractional-order chaotic systems. The proposed control framework uses the Lyapunov approach and sliding mode…
Many unmanned aerial vehicles (UAVs) can remain aerodynamically flyable after sustaining structural or control surface damage, yet insufficient robustness in conventional autopilots often leads to mission failure. This paper proposes a…
We demonstrate that time-delayed feedback control can be improved by adaptively tuning the feedback gain. This adaptive controller is applied to the stabilization of an unstable fixed point and an unstable periodic orbit embedded in a…
This paper deals with the tracking control problem for a very simple class of unknown nonlinear systems. In this paper, we presents a design strategy for tracking control of time-varying state constrained nonlinear systems in an adaptive…
This paper presents a framework for controlled emergency landing of a quadcopter, experiencing a rotor failure, away from sensitive areas. A complete mathematical model capturing the dynamics of the system is presented that takes the…
This paper presents a new geometric adaptive control system with state inequality constraints for the attitude dynamics of a rigid body. The control system is designed such that the desired attitude is asymptotically stabilized, while the…