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This work presents a cascaded hybrid control framework for quadrotor trajectory tracking under nonlinear dynamics and external disturbances. In quadrotor systems, the altitude and attitude channels exhibit fast, structured dynamics that are…
This paper is focused on the dynamics and control of arbitrary number of quadrotor UAVs transporting a rigid body payload. The rigid body payload is connected to quadrotors via flexible cables where each flexible cable is modeled as a…
Developing optimal controllers for aggressive high-speed quadcopter flight poses significant challenges in robotics. Recent trends in the field involve utilizing neural network controllers trained through supervised or reinforcement…
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…
Obstacle avoidance for unmanned aerial vehicles like quadrotors is a popular research topic. Most existing research focuses only on static environments, and obstacle avoidance in environments with multiple dynamic obstacles remains…
Controlling a distributed autonomous unmanned aerial vehicle (UAV) formation is usually considered in the context of recovering the connectivity graph should a single UAV agent be lost. At the same time, little focus is made on how such…
This paper introduces an $\mathcal{L}_1$ adaptive control augmentation for geometric tracking control of quadrotors. In the proposed design, the $\mathcal{L}_1$ augmentation handles nonlinear (time- and state-dependent) uncertainties in the…
Simultaneously accurate and reliable tracking control for quadrotors in complex dynamic environments is challenging. As aerodynamics derived from drag forces and moment variations are chaotic and difficult to precisely identify, most…
The unmanned aerial manipulator system, consisting of a multirotor UAV (unmanned aerial vehicle) and a manipulator, has attracted considerable interest from researchers. Nevertheless, the operation of a dual-arm manipulator poses a dynamic…
This paper presents the full dynamics and control of arbitrary number of quadrotor unmanned aerial vehicles (UAV) transporting a rigid body. The rigid body is connected to the quadrotors via flexible cables where each flexible cable is…
Automating the navigation of unmanned aerial vehicles (UAVs) in diverse scenarios has gained much attention in recent years. However, teaching UAVs to fly in challenging environments remains an unsolved problem, mainly due to the lack of…
Equations of motion and dynamics of a quadrotor transporting a load with a flexible cable modeled as a chain pendulum is obtained using Euler-Lagrange equations by taking variations on manifolds. An arbitrary number of links considered in a…
In spite of the recent interest and advances in linear controllability of complex networks, controlling nonlinear network dynamics remains to be an outstanding problem. We develop an experimentally feasible control framework for nonlinear…
This paper introduces an adaptive-neuro identification method that enhances the robustness of a centralized multi-quadrotor transportation system. This method leverages online tuning and learning on decomposed error subspaces, enabling…
Quadrotors are one of the popular unmanned aerial vehicles (UAVs) due to their versatility and simple design. However, the tuning of gains for quadrotor flight controllers can be laborious, and accurately stable control of trajectories can…
This paper presents an adaptive coverage control method for a fleet of off-road and Unmanned Ground Vehicles (UGVs) operating in dynamic (time-varying) agricultural environments. Traditional coverage control approaches often assume static…
Agile flights of autonomous quadrotors in cluttered environments require constrained motion planning and control subject to translational and rotational dynamics. Traditional model-based methods typically demand complicated design and heavy…
The task of flying in tight formations is challenging for teams of quadrotors because the complex aerodynamic wake interactions can destabilize individual team members as well as the team. Furthermore, these aerodynamic effects are highly…
To address non-linear disturbances and uncertainties in complex marine environments, this paper proposes a disturbance-resistant controller for deep-sea cranes. The controller integrates hierarchical sliding mode control, adaptive control,…
This paper considers the robust control of a catenary robot composed of two quadrotors connected by an inextensible cable. The system is modeled on \(SE(3)\), with the cable treated as a geometric subsystem induced by the UAV configuration…