Related papers: Accurate Tracking of Aggressive Quadrotor Trajecto…
MAVs have great potential to assist humans in complex tasks, with applications ranging from logistics to emergency response. Their agility makes them ideal for operations in complex and dynamic environments. However, achieving precise…
This paper presents the development of a sliding mode controller using the backstepping approach. The controller is employed to synthesize tracking errors and Lyapunov functions. A novel state-space representation is formulated by…
This paper presents a systematic design of an active disturbance rejection control (ADRC) system for unmanned tracked vehicles (UTVs) in leader-follow formation. Two ADRC controllers are designed for the lateral and the longitudinal…
In this paper, we present a deep reinforcement learning method for quadcopter bypassing the obstacle on the flying path. In the past study, the algorithm only controls the forward direction about quadcopter. In this letter, we use two…
This paper studies quadcopters obstacle avoidance trajectory control (OATC) problem for express delivery. A new nonlinear adaptive learning controller that is low-cost and portable to different wheelbase sizes is proposed to adapt to…
The expectation of unmanned air vehicles (UAVs) pushes the operation environment to narrow spaces, where the systems may fly very close to an object and perform an interaction. This phase brings the variation in UAV dynamics: thrust and…
[Accepted to IROS 2025] In this paper, we address the problem of tracking high-speed agile trajectories for Unmanned Aerial Vehicles(UAVs), where model inaccuracies can lead to large tracking errors. Existing Nonlinear Model Predictive…
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…
Overactuated Tilt Rotor Unmanned Aerial Vehicles are renowned for exceptional wind resistance and a broad operational range, which poses complex control challenges due to non-affine dynamics. Traditional solutions employ multi-state…
This paper presents an algorithm for solving the problem of tracking smooth curves by a fixed wing unmanned aerial vehicle travelling with a constant airspeed and under a constant wind disturbance. The algorithm is based on the idea of…
The Pugachev's cobra maneuver is a dramatic and demanding maneuver requiring the aircraft to fly at extremely high Angle of Attacks (AOA) where stalling occurs. This paper considers this maneuver on tail-sitter UAVs. We present a simple yet…
Quadrotors can achieve aggressive flight by tracking complex maneuvers and rapidly changing directions. Planning for aggressive flight with trajectory optimization could be incredibly fast, even in higher dimensions, and can account for…
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…
In this work, we propose a dynamic landing solution without the need for onboard exteroceptive sensors and an expensive computation unit, where all localization and control modules are carried out on the ground in a non-inertial frame. Our…
Overactuated omnidirectional flying vehicles are capable of generating force and torque in any direction, which is important for applications such as contact-based industrial inspection. This comes at the price of an increase in model…
Quadrotors with the ability to perch on moving inclined surfaces can save energy and extend their travel distance by leveraging ground vehicles. Achieving dynamic perching places high demands on the performance of trajectory planning and…
Flying robots such as the quadrotor could provide an efficient approach for medical treatment or sensor placing of wild animals. In these applications, continuously targeting the moving animal is a crucial requirement. Due to the…
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…
Quadcopters are increasingly used for applications ranging from hobby to industrial products and services. This paper serves as a tutorial on the design, simulation, implementation, and experimental outdoor testing of digital quadcopter…
The interaction of robots with bendable objects in midair presents significant challenges in control, often resulting in performance degradation and potential crashes, especially for aerial robots due to their limited actuation capabilities…