Related papers: Adaptive Nonlinear Control of Fixed-Wing VTOL with…
This paper proposes a nonlinear control architecture for flexible aircraft simultaneous trajectory tracking and load alleviation. By exploiting the control redundancy, the gust and maneuver loads are alleviated without degrading the…
A vortex-lattice method for wing aerodynamics that uses nonlinear airfoil data is presented. Two applications of this procedure are presented: Direct Design of a Flying Wing and Inverse Identification from wind tunnel measurements with…
This paper considers a collaborative tracking control problem using a group of fixed-wing unmanned aerial vehicles (UAVs) with constant and non-identical speeds. The dynamics of fixed-wing UAVs are modelled by unicycle-type equations with…
Attitude control of fixed-wing unmanned aerial vehicles (UAVs) is a difficult control problem in part due to uncertain nonlinear dynamics, actuator constraints, and coupled longitudinal and lateral motions. Current state-of-the-art…
Accurate dynamics models are critical for the design of predictive controller for autonomous mobile robots. Physics-based models are often too simple to capture relevant real-world effects, while data-driven models are data-intensive and…
Agile quadrotor flight in challenging environments has the potential to revolutionize shipping, transportation, and search and rescue applications. Nonlinear model predictive control (NMPC) has recently shown promising results for agile…
Autopilots for fixed-wing aircraft are typically designed based on linearized aerodynamic models consisting of stability and control derivatives obtained from wind-tunnel testing. The resulting local controllers are then pieced together…
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…
Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments. Adaptive control laws can endow even nonlinear systems with good trajectory tracking performance, provided that any uncertain dynamics…
This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…
The recent years have witnessed increased development of small, autonomous fixed-wing Unmanned Aerial Vehicles (UAVs). In order to unlock widespread applicability of these platforms, they need to be capable of operating under a variety of…
This paper is focused on tracking control for a rigid body payload, that is connected to an arbitrary number of quadrotor unmanned aerial vehicles via rigid links. A geometric adaptive controller is constructed such that the payload…
Neglecting complex aerodynamic effects hinders high-speed yet high-precision multirotor autonomy. In this paper, we present a computationally efficient learning-based model predictive controller that simultaneously optimizes a trajectory…
Agile quadrotor flight relies on rapidly planning and accurately tracking time-optimal trajectories, a technology critical to their application in the wild. However, the computational burden of computing time-optimal trajectories based on…
Vertical take-off and landing (VTOL) aircraft pose a challenge in generating reference commands during transition flight. While sparsity between hover and cruise flight modes can be promoted for effective transitions by formulating…
This paper develops an adaptive digital autopilot for a fixed-wing aircraft and compares its performance with a fixed-gain autopilot. The adaptive digital autopilot is constructed by augmenting the autopilot architecture implemented in PX4…
This paper presents a data-driven optimal control policy for a micro flapping wing unmanned aerial vehicle. First, a set of optimal trajectories are computed off-line based on a geometric formulation of dynamics that captures the nonlinear…
There is a great demand for vision-based robotics solutions that can operate using Global Positioning Systems (GPS), but are also robust against GPS signal loss and gyroscope failure. This paper investigates the estimation and tracking…
Contemporary autopilot systems for unmanned aerial vehicles (UAVs) are far more limited in their flight envelope as compared to experienced human pilots, thereby restricting the conditions UAVs can operate in and the types of missions they…
Autonomous landing on a moving platform presents unique challenges for multirotor vehicles, including the need to accurately localize the platform, fast trajectory planning, and precise/robust control. Previous works studied this problem…