Related papers: On executing aggressive quadrotor attitude trackin…
In this paper, we present a full attitude control of an efficient quadrotor tail-sitter VTOL UAV with flexible modes. This control system is working in all flight modes without any control surfaces but motor differential thrusts. This paper…
This paper introduces a novel attitude controller for spacecraft subject to actuator saturation and multiple exclusion cone constraints. The proposed solution relies on a two-layer approach where the first layer prestabilizes the system…
Precise aggressive maneuvers with lightweight onboard sensors remains a key bottleneck in fully exploiting the maneuverability of drones. Such maneuvers are critical for expanding the systems' accessible area by navigating through narrow…
A global model is presented that can be used to study attitude maneuvers of a rigid spacecraft in a circular orbit about a large central body. The model includes gravity gradient effects that arise from the non-uniform gravity field and…
This study has developed a fault-tolerant controller that is able to recover a quadrotor from arbitrary initial orientations and angular velocities, despite the complete failure of a rotor. This cascaded control method includes a…
Morphing quadrotors with four external actuators can adapt to different restricted scenarios by changing their geometric structure. However, previous works mainly focus on the improvements in structures and controllers, and existing…
Expressive motion planning for Aerial Manipulators (AMs) is essential for tackling complex manipulation tasks, yet achieving coupled trajectory planning adaptive to various tasks remains challenging, especially for those requiring…
Existing multirotor-based cargo transportation does not maintain a constant cargo attitude due to underactuation; however, fragile payloads may require a consistent posture. The conventional method is also cumbersome when loading cargo, and…
This paper addresses the trajectory tracking control problem for underactuated VTOL UAVs. According to the different actuation mechanisms, the most common UAV platforms can achieve only a partial decoupling of attitude and position tasks.…
In order to further expand the flight envelope of quadrotors under actuator failures, we design a nonlinear sensor-based fault-tolerant controller to stabilize a quadrotor with failure of two opposing rotors in the high-speed flight…
This letter presents a novel control solution to the robust global position and heading tracking problem for underactuated vehicles, equipped with single-axis thrust and full torque actuation, operating under strict, user-defined actuation…
Purpose: Real-life applications using quadrotors introduce a number of disturbances and time-varying properties that pose a challenge to flight controllers. We observed that, when a quadrotor is tasked with picking up and dropping a…
We present a perception constrained visual predictive control (PCVPC) algorithm for quadrotors to enable aggressive flights without using any position information. Our framework leverages nonlinear model predictive control (NMPC) to…
Flying quadrotors in tight formations is a challenging problem. It is known that in the near-field airflow of a quadrotor, the aerodynamic effects induced by the propellers are complex and difficult to characterize. Although machine…
This paper proposes a fault-tolerant control strategy based on a tilt-rotor quadcopter prototype, utilizing nonlinear model predictive control to maintain both attitude and position stability in the event of rotor failure. The control…
With the introduction of the laterally bounded forces, the tilt-rotor gains more flexibility in the controller design. Typical feedback linearization methods utilize all the inputs in controlling this vehicle; the magnitudes as well as the…
In this paper, we present an autonomous flight controller for a quadcopter with thrust vectoring capabilities. This UAV falls in the category of multirotors with tilt-motion enabled rotors. Since the vehicle considered is over-actuated in…
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…
In real-world control applications, actuator constraints and output constraints (specifically in tracking problems) are inherent and critical to ensuring safe and reliable operation. However, generally, control strategies often neglect…
Existing FPV object tracking methods heavily rely on handcrafted modular pipelines, which incur high onboard computation and cumulative errors. While learning-based approaches have mitigated computational delays, most still generate only…