Related papers: HAPD aircraft Uncertain Norm-Bounded Mathematical …
Attitude stabilization of unmanned aerial vehicles (UAVs) in uncertain environments presents significant challenges due to nonlinear dynamics, parameter variations, and sensor limitations. This paper presents a comparative study of…
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…
In this paper, a linear mathematical model for a quad copter unmanned aerial vehicle (UAV) is derived. The three degrees of freedom (3DOF) and six degrees of freedom (6DOF) quad copter state-space models are developed starting from basic…
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…
As off-the-shelf (OTS) autopilots become more widely available and user-friendly and the drone market expands, safer, more efficient, and more complex motion planning and control will become necessary for fixed-wing aerial robotic…
This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to many existing control strategies, which do not consider…
In this paper, we present a novel cascade control structure with formal guarantees of uniform almost global asymptotic stability for the state tracking error dynamics of a quadcopter. The proposed approach features a model predictive…
Operating unmanned aerial vehicles (UAVs) in complex environments that feature dynamic obstacles and external disturbances poses significant challenges, primarily due to the inherent uncertainty in such scenarios. Additionally, inaccurate…
Obtaining predictive low-order models is a central challenge in fluid dynamics. Data-driven frameworks have been widely used to obtain low-order models of aerodynamic systems; yet, resulting models tend to yield predictions that grow…
Fixed-wing unmanned aerial vehicles (UAVs) offer significant performance advantages over rotary-wing UAVs in terms of speed, endurance, and efficiency. However, these vehicles have traditionally been severely limited with regards to…
Being motivated by ceiling inspection applications via unmanned aerial vehicles (UAVs) which require close proximity flight to surfaces, a systematic control approach enabling safe and accurate close proximity flight is proposed in this…
With UAVs promising capabilities to increase operation flexibility and reduce mission cost, we are exploiting the automated carrier-landing performance advancement that can be achieved by fixed-wing UAVs. To demonstrate such potentials, in…
This paper presents a comprehensive approach to nonlinear dynamics identification for UAVs using a combination of data-driven techniques and theoretical modeling. Two key methodologies are explored: Proportional-Derivative (PD)…
Sliding mode control of a launch vehicle during its atmospheric flight phase is studied in the presence of unmatched disturbances. Linear time-varying dynamics of the aerospace vehicle is converted into a systematic formula and then dynamic…
Flying animals resort to fast, large-degree-of-freedom motion of flapping wings, a key feature that distinguishes them from rotary or fixed-winged robotic fliers with limited motion of aerodynamic surfaces. However, flapping-wing…
Hybrid unmanned aerial vehicles (UAVs) integrate the efficient forward flight of fixed-wing and vertical takeoff and landing (VTOL) capabilities of multicopter UAVs. This paper presents the modeling, control and simulation of a new type of…
Planning high-speed trajectories for UAVs in unknown environments requires algorithmic techniques that enable fast reaction times to guarantee safety as more information about the environment becomes available. The standard approaches that…
[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…
In this paper, we investigate the problem of coordinated path following for fixed-wing UAVs with speed constraints in 2D plane. The objective is to steer a fleet of UAVs along the path(s) while achieving the desired sequenced inter-UAV arc…
In this paper, an uncertain norm-bounded mathematical model for a remotely controlled skid-slip tracked mobile robot. The linear state space description aims to describe the nonlinear error dynamics of the robot during the trajectory…