Related papers: Adaptive Super-twisting Second-order Sliding Mode …
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…
In this paper, we study the quadrotor UAV attitude control on SO(3) in the presence of unknown disturbances and model uncertainties. L1 adaptive control for UAVs using Euler angles/quaternions is shown to exhibit robustness and precise…
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…
Conventional multi-rotors are under-actuated systems, hindering them from independently controlling attitude from position. In this study, we present several distinct configurations that incorporate additional control inputs for…
This paper presents a model-based, adaptive, nonlinear controller for the bicopter stabilization and trajectory-tracking problem. The nonlinear controller is designed using the backstepping technique. Due to the non-invertibility of the…
Tendon-driven aerial continuum manipulators (TD-ACMs) combine the maneuverability of uncrewed aerial vehicles (UAVs) with the compliance of lightweight continuum robots (CRs). Existing coupled dynamic modeling approaches for TD-ACMs incur…
Analog-to-digital conversion (ADC) and uncertainties in modeling the plant dynamics are the main sources of imprecisions in the design cycle of model-based controllers. These implementation and model uncertainties should be addressed in the…
This paper develops an adaptive autopilot for quadcopters with unknown dynamics. To do this, the PX4 autopilot architecture is modified so that the feedback and feedforward controllers are replaced by adaptive control laws based on…
The main objective of this work is demonstrated through two main aspects. The first is the design of an adaptive neuro-fuzzy inference system (ANFIS) controller to develop the attitude and altitude of a quadcopter. The second is to…
This paper addresses modeling and control of a six-degree-of-freedom unmanned aerial vehicle capable of vertical take-off and landing in the presence of wind disturbances. We design a hybrid vehicle that combines the benefits of both the…
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…
In this paper, formation tracking for a multi-AUV system (MAS) using an improved adaptive sliding mode control method is studied in the Three Dimensional (3-D) underwater environment. Firstly, the kinematics model and the dynamic model of…
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…
Enabling vertical take-off and landing while providing the ability to fly long ranges opens the door to a wide range of new real-world aircraft applications while improving many existing tasks. Tiltrotor vertical take-off and landing (VTOL)…
This paper provides new results for control of complex flight maneuvers for a quadrotor unmanned aerial vehicle (UAV). The flight maneuvers are defined by a concatenation of flight modes or primitives, each of which is achieved by a…
With substantial recent developments in aviation technologies, Unmanned Aerial Vehicles (UAVs) are becoming increasingly integrated in commercial and military operations internationally. Research into the applications of aircraft data is…
In this paper we present a maneuver regulation scheme for Vertical Take-Off and Landing (VTOL) micro aerial vehicles (MAV). Differently from standard trajectory tracking, maneuver regulation has an intrinsic robustness due to the fact that…
This paper presents a static-equilibrium oriented interaction force modeling and control approach of aerial manipulation employing uni-directional thrust (UDT) multirotors interacting with variously defined environments. First, a simplified…
With the advent of intelligent transport, quadrotors are becoming an attractive solution while lifting or dropping payloads during emergency evacuations, construction works, etc. During such operations, dynamic variations in (possibly…
Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…