Related papers: Suspended Load Path Tracking Control Using a Tilt-…
In this paper we address the control problem of aerial cable suspended load transportation, using multiple Unmanned Aerial Vehicles (UAVs). First, the dynamical model of the coupled system is obtained using the Newton-Euler formalism, for…
This paper addresses the problem of tracking the position of a cable-suspended payload carried by an unmanned aerial vehicle, with a focus on real-world deployment and minimal hardware requirements. In contrast to many existing approaches…
This paper investigates the coordinated trajectory tracking problem of multiple vertical takeooff and landing (VTOL) unmanned aerial vehicles (UAVs). The case of unidirectional information flow is considered and the objective is to drive…
This paper proposes a joint state-parameter observer-based controller for trajectory tracking of an octocopter unmanned aerial vehicle (OUAV), for transportation of a heavy load with unknown mass and size. The multi-body dynamic model of…
This paper provides new results for a robust adaptive tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid…
Unmanned aerial vehicle (UAV) with slung load system is a classic air transportation system. In practical applications, the suspension point of the slung load does not always align with the center of mass (CoM) of the UAV due to mission…
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.…
This paper addresses the three-dimensional path-following guidance problem for unmanned aerial vehicles under explicit actuator constraints. Unlike conventional approaches that assume unbounded control inputs or handle saturation…
Tilt rotor aircraft combine the benefits of both helicopters and fixed wing aircraft, this makes them popular for a variety of applications, including Search and Rescue and VVIP transport. However, due to the multiple flight modes,…
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…
We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…
Transition control poses a critical challenge in Vertical Take-Off and Landing Unmanned Aerial Vehicle (VTOL UAV) development due to the tilting rotor mechanism, which shifts the center of gravity and thrust direction during transitions.…
Groups of unmanned aerial vehicles (UAVs) are increasingly utilized in transportation task as the combined strength allows to increase the maximum payload. However, the resulting mechanical coupling of the UAVs impose new challenges in…
This work proposes a novel control and estimation approach for aerial manipulation of a cable-suspended load using Unmanned Aerial Vehicles (UAVs). Common approaches in the state of the art have practical limitations, relying on direct load…
This paper investigates tracking controls for an arbitrary number of cooperating quadrotor unmanned aerial vehicles with a suspended rigid body payload. Assuming that a rigid body is connected to multiple quadrotors by rigid massless links,…
This paper provides nonlinear tracking control systems for a quadrotor unmanned aerial vehicle (UAV) that are robust to bounded uncertainties. A mathematical model of a quadrotor UAV is defined on the special Euclidean group, and nonlinear…
This paper investigates the position-tracking control problem for fixed-wing unmanned aerial vehicles (UAVs) equipped with a turbojet engine via an integrated flight and propulsion control scheme. To this end, a hierarchical control…
The spacecraft attitude tracking problem is addressed with actuator faults and uncertainties among inertias, external disturbances, and, in particular, state estimates. A continuous sliding mode attitude controller is designed using…
This paper presents the mathematical modeling, controller design, and flight-testing of an over-actuated Vertical Take-off and Landing (VTOL) tiltwing Unmanned Aerial Vehicle (UAV). Based on simplified aerodynamics and first-principles, a…
Model Predictive Control (MPC) is widely adopted for agile multirotor vehicles, yet achieving both stability and obstacle-free flight is particularly challenging when a payload is suspended beneath the airframe. This paper introduces a…