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This work addresses the problem of path tracking control of a suspended load using a tilt-rotor UAV. The main challenge in controlling this kind of system arises from the dynamic behavior imposed by the load, which is usually coupled to the…
Unmanned Aerial Vehicles (UAVs) are now becoming increasingly accessible to amateur and com-mercial users alike. Several types of airspace structures are proposed in recent research, which include several structured free flight concepts. In…
Unmanned Aerial Vehicles (UAVs) or drones have witnessed a spectacular surge in applications for military, commercial, and civilian purposes. However, their potential for flight is always limited by the finite power budget of their onboard…
In this paper I present the aerodynamic optimization of the angle of attack of MQ-9 Reaper wings under turbulent airflow conditions. The background discusses the evolution of UAVs such as the Hunter and their usages for different tasks,…
Most birds can navigate seamlessly between aerial and terrestrial environments. Whereas the forelimbs evolved into wings primarily for flight, the hindlimbs serve diverse functions such as walking, hopping, and leaping, and jumping take-off…
In this paper, we present a full attitude control of an efficient quadrotor tail-sitter VTOL UAV with flexible modes. This control system is working in all flight modes without any control surfaces but motor differential thrusts. This paper…
As UAV technology improves, more uses have been found for these versatile autonomous vehicles, from surveillance to aerial photography, to package delivery, and each of these applications poses unique challenges. This paper implements a…
A self-powered scheme is explored for achieving long-endurance operation, with the use of solar power and buoyancy lift. The end goal is the capability of infinite endurance while complying with the Unmanned Aerial Vehicle (UAV) dynamics…
With increasing demands for fuel efficiency and operational adaptability in commercial aviation}, this paper provides a systematic review and classification of morphing wing technologies, analyzing their aerodynamic performance…
The problem of launching a tethered aircraft to be used for airborne wind energy generation is investigated. Exploiting well-assessed physical principles, an analysis of three different take-off approaches is carried out. The approaches are…
Problems associated with physical interactions using aerial mobile manipulators (AMM) are being independently addressed with respect to mobility and manipulability. Multirotor unmanned aerial vehicles (UAV) are a common choice for mobility…
In trajectory planning and control design for unmanned air vehicles, highly simplified models are typically used to represent the vehicle dynamics and the operating environment. The goal of this work is to perform real-time, but realistic…
Fixed-wing vertical take-off and landing (VTOL) aircraft pose a unique control challenge that stems from complex aerodynamic interactions between wings and rotors. Thus, accurate estimation of external forces is indispensable for achieving…
Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the…
UAV-based wireless systems, such as wireless relay and remote sensing, have attracted great attentions from academia and industry. To realize them, a high-performance wireless aerial communication system, which bridges UAVs and ground…
With the emergence of new flapping-wing micro aerial vehicle (FWMAV) designs, a need for extensive and advanced mission capabilities arises. FWMAVs try to adapt and emulate the flight features of birds and flying insects. While current…
The conceptual design and flight controller of a novel kind of quadcopter are presented. This design is capable of morphing the shape of the UAV during flight to achieve position and attitude control. We consider a dynamic center of gravity…
In this letter, we study multiuser communication systems enabled by an unmanned aerial vehicle (UAV) that is equipped with a directional antenna of adjustable beamwidth. We propose a fly-hover-and-communicate protocol where the ground…
State estimation and control is a well-studied problem in conventional aerial vehicles such as multi-rotors. But multi-rotors, while versatile, are not suitable for all applications. Due to turbulent airflow from ground effects,…
Within the standard framework of quasi-steady flight, this paper derives a speed that realizes the maximal obtainable range per unit of fuel. If this speed is chosen at each instant of a flight plan $h(x)$ giving altitude $h$ as a function…