Related papers: Adaptive Super-twisting Second-order Sliding Mode …
This article presents a guidance-control design methodology for the autonomous maneuvering of tailsitter unmanned aerial systems (UAS) in hybrid flight regimes (i.e. the dynamics between VTOL and fixed wing regime). The tailsitter…
This paper presents a novel approach to automated drifting with a standard passenger vehicle, which involves a Nonlinear Model Predictive Control to stabilise and maintain the vehicle at high sideslip angle conditions. The proposed…
This paper presents a mathematic dynamic model of a quadrotor unmanned aerial vehicle (QUAV) by using the symbolic regression approach and then proposes a hierarchical control scheme for trajectory tracking. The symbolic regression approach…
The innovative concept of Electric Aircraft is a challenging topic involving different control objectives. For instance, it becomes possible to reduce the size and the weight of the generator by using the battery as an auxiliary generator…
This paper presents a novel adaptive multivariable smooth second-order sliding mode approach with the features of fast finite-time convergence, adaptation to disturbances and smooth. This approach can be directly applied to the controller…
Aerial Manipulator Systems (AMS) have garnered significant interest for their utility in aerial operations. Nonetheless, challenges related to the manipulator's limited stiffness and the coupling disturbance with manipulator movement…
Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, the control of them is very challenging given their intrinsic…
This paper presents a model of an agile tail-sitter aircraft, which can operate as a helicopter as well as capable of transition to fixed-wing flight. Aerodynamics of the co-axial counter-rotating propellers with quad rotors are analysed…
Dealing with meteorological uncertainty poses a major challenge in air traffic management (ATM). Convective weather (commonly referred to as storms or thunderstorms) in particular represents a significant safety hazard that is responsible…
For intelligent quadcopter UAVs, a robust and reliable autonomous planning system is crucial. Most current trajectory planning methods for UAVs are suitable for static environments but struggle to handle dynamic obstacles, which can pose…
This paper presents a new kind of vectorial backstepping sliding mode control (BSMC) for the positioning and trajectory tracking of an autonomous robotic airship. Also, a unified framework basis for the design/analysis of vectorial BSMC, as…
This paper highlights the significance of the rotor dynamics in control design for small-scale aerobatic helicopters, and proposes two singularity free robust attitude tracking controllers based on the available states for feedback. 1. The…
Utilizing a servo to tilt each rotor transforms quadrotors from underactuated to overactuated systems, allowing for independent control of both attitude and position, which provides advantages for aerial manipulation. However, this…
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…
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…
Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obtain the desired motion with a torque-controlled robot, which…
In this paper, attitude maneuver control without unwinding phenomenon is investigated for rigid spacecraft. First, a novel switching function is constructed by a hyperbolic sine function. It is shown that the spacecraft system possesses the…
In this paper, we present a novel cascade control structure with formal guarantees of uniform almost global asymptotic stability for the state tracking error dynamics of a quadcopter. The proposed approach features a model predictive…
This paper addresses the problem of thrust estimation and control for the rotors of small-sized multirotors Uncrewed Aerial Vehicles (UAVs). Accurate control of the thrust generated by each rotor during flight is one of the main challenges…
This paper proposes a robust control method based on sliding mode design for two-level quantum systems with bounded uncertainties. An eigenstate of the two-level quantum system is identified as a sliding mode. The objective is to design a…