Related papers: Quaternion Feedback Based Autonomous Control of a …
This paper presents a mathematic dynamic model of a quadrotor unmanned aerial vehicle (QUAV) by using the symbolic regression approach and then proposes a hierarchical control scheme for trajectory tracking. The symbolic regression approach…
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…
This paper addresses the modeling and attitude control of jumping quadrupeds in low-gravity environments. First, a convex decomposition procedure is presented to generate high-accuracy and low-cost collision geometries for quadrupeds…
This paper focuses on dynamic control allocation for a hexarotor UAV platform, considering a trajectory tracking task as as case study. It is assumed that the platform is dual-tilting, meaning that it is able to tilt each propeller…
This paper presents a framework for controlled emergency landing of a quadcopter, experiencing a rotor failure, away from sensitive areas. A complete mathematical model capturing the dynamics of the system is presented that takes the…
Propeller failure is a major cause of multirotor Unmanned Aerial Vehicles (UAVs) crashes. While conventional multirotor systems struggle to address this issue due to underactuation, over-actuated platforms can continue flying with…
The ability of aerial robots to operate in the presence of failures is crucial in various applications that demand continuous operations, such as surveillance, monitoring, and inspection. In this paper, we propose a fault-tolerant control…
This paper discusses the design and the performance achievable with active aerodynamic attitude control in very low Earth orbit, i.e. below 450 km in altitude. A novel real-time algorithm is proposed for selecting the angles of deflection…
Recent quadrotors have transcended conventional designs, emphasizing more on foldable and reconfigurable bodies. The state of the art still focuses on the mechanical feasibility of such designs with limited discussions on the tracking…
In this paper a geometric approach to the trajectory tracking control of Unmanned Aerial Vehicles with thrust vectoring capabilities is proposed. The control design is suitable for aerial systems that allow to effectively decouple position…
This paper presents a new flight control framework for tilt-rotor multirotor uncrewed aerial vehicles (MRUAVs). Tiltrotor designs offer full actuation but introduce complexity in control allocation due to actuator redundancy. We propose a…
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…
With the introduction of the laterally bounded forces, the tilt-rotor gains more flexibility in the controller design. Typical feedback linearization methods utilize all the inputs in controlling this vehicle; the magnitudes as well as the…
This paper presents a method to recover quadrotor UAV from a throw, when no control parameters are known before the throw. We leverage the availability of high-frequency rotor speed feedback available in racing drone hardware and software…
In this paper, an adaptive super-twisting controller is designed for an agile maneuvering quadrotor unmanned aerial vehicle to achieve accurate trajectory tracking in the presence of external disturbances. A cascaded control architecture is…
This paper focuses on the control of a cooperative system composed of an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV) manipulating an object. The two units are subject to input saturations and collaborate to move the…
This paper presents a trajectory-tracking controller for multi-rotor unmanned aerial vehicles (UAVs) in scenarios where only the desired position and heading are known without the higher-order derivatives. The proposed solution modifies the…
This paper carries out the mathematical modeling, simulation, and control law design for a quadrotor with variable-pitch propellers. The use of variable-pitch propeller for thrust variation instead of RPM regulation facilitates generation…
An approach to the control of a VTOL vehicle equipped with complementary thrust-direction tilting capabilities that nominally yield full actuation of the vehicle's position and attitude is developed. The particularity and difficulty of the…
The study addresses the problem of quadcopter motion control using output feedback. By applying a geometric approach, the quadcopter model is transformed into a normal form with a time-varying gain coefficient, which is subsequently made…