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This paper explores the mathematical modelling and 3D design of a tilt-rotor quadrotor aircraft. The aircraft is a VTOL design and has capacity for one pilot. The design incorporates a part manual part automatic computerised flight control…
This paper presents a novel solution for UAV control in cooperative multi-robot systems, which can be used in various scenarios such as leader-following, landing on a moving base, or specific relative motion with a target. Unlike classical…
This paper presents a nonlinear integrated guidance and control (IGC) approach for flexible leader-follower formation flight of fixed-wing unmanned aerial vehicles (UAVs) while accounting for high-fidelity aerodynamics and thrust dynamics.…
In this paper a novel aerial manipulation system is proposed. The mechanical structure of the system, the number of thrusters and their geometry will be derived from technical optimization problems. The aforementioned problems are defined…
MOMAV (Marco's Omnidirectional Micro Aerial Vehicle) is a multirotor drone that is fully actuated, meaning it can control its orientation independently of its position. MOMAV is also highly symmetrical, making its flight efficiency largely…
Autonomous missions of small unmanned aerial vehicles (UAVs) are prone to collisions owing to environmental disturbances and localization errors. Consequently, a UAV that can endure collisions and perform recovery control in critical aerial…
A nonlinear optimal control strategy, named the geometry enhanced finite time $\boldsymbol{\theta-}$D technique, is proposed to manipulate the acrobatic flip flight of variable pitch (VP) quadcopter unmanned aerial vehicles (abbreviated as…
Drones have gained popularity in a wide range of field ranging from aerial photography, aerial mapping, and investigation of electric power lines. Every drone that we know today is carrying out some kind of control algorithm at the low…
We present a switching scheme, which uses both the attitude-error quaternion (AEQ) and the angular-velocity error, for controlling the rotational degrees of freedom of an uncrewed aerial vehicle (UAV) during flight. In this approach, the…
This paper addresses the design and application controller for a small-size unmanned aerial vehicle (UAV). In this work, the main objective is to study the modeling and attitude controller design for a small size helicopter. Based on a…
This article introduces a safe control strategy for application of forces to an external object using a dexterous robotic arm mounted on an unmanned Aerial Vehicle (UAV). A hybrid force-motion controller has been developed for this purpose.…
This paper presents a novel Lagrangian approach to attitude tracking for rigid spacecraft using unit quaternions, where the motion equations of a spacecraft are described by a four degrees of freedom Lagrangian dynamics subject to a…
This project aimed to develop an automated cinematography platform using an unmanned aerial vehicle. Quadcopters are a great platform for shooting aerial scenes but are difficult to maneuver smoothly and can require expertise to pilot. We…
This paper presents a novel VTOL UAV that owns a link connecting four rotors and a fuselage by a passive joint, allowing the control of the rotor's tilting angle by adjusting the rotors' thrust. This unique structure contributes to…
This work addresses the landing problem of an aerial vehicle, exemplified by a simple quadrotor, on a moving platform using image-based visual servo control. First, the mathematical model of the quadrotor aircraft is introduced, followed by…
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, for the first time, the soft planar vertical take-off and landing (Soft-PVTOL) aircraft. This concept captures the soft aerial vehicle's fundamental dynamics with a minimum number of states and inputs but retains the…
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…
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…
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…