Related papers: Stabilizing a spherical pendulum on a quadrotor
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…
Collision-free motion is a fundamental requirement for many autonomous systems. This paper develops a safety-critical control approach for the collision-free navigation of polytope-shaped agents in polytope-shaped environments. A systematic…
Purpose: Real-life applications using quadrotors introduce a number of disturbances and time-varying properties that pose a challenge to flight controllers. We observed that, when a quadrotor is tasked with picking up and dropping a…
Standard geometric control relies on force-moment decoupling, an assumption that breaks down in many aerial platforms due to spurious forces naturally induced by control moments. While strategies for such coupled systems have been validated…
In this paper, we propose an effective unified control law for accurately tracking agile trajectories for lifting-wing quadcopters with different installation angles, which have the capability of vertical takeoff and landing (VTOL) as well…
In this paper, we consider the feedback stabilization problem for N-level quantum angular momentum systems undergoing continuous-time measurements. By using stochastic and geometric control tools, we provide sufficient conditions on the…
This paper presents a solution to the rendezvous control problem for a network of kinematic unicycles in the plane, each equipped with an onboard camera measuring its relative displacement with respect to its neighbors in body frame…
In this paper, we present a novel rolling, jumping robot. The robot consists of a driven pendulum mounted to a wheel in a compact, lightweight, 3D printed design. We show that by driving the pendulum to shift the robot's weight…
Spherical robots typically require at least two actuators to achieve controlled 2D planar motion. Here we present Rollbot, the first spherical robot capable of controllably maneuvering on a 2D plane with a single actuator, challenging this…
In this paper, we present a new leader-follower type solution to the formation maneuvering problem for multiple, nonholonomic wheeled mobile robots. The solution is based on the graph that models the coordination among the robots being a…
This dissertation presents nonlinear tracking control systems for quadrotor unmanned aerial vehicles (UAV) under the influence of uncertainties. Assuming that there exist unstructured disturbances in the translational dynamics and the…
Nonlinear PID control systems for a quadrotor UAV are proposed to follow an attitude tracking command and a position tracking command. The control systems are developed directly on the special Euclidean group to avoid singularities of…
The previously introduced aerial manipulation systems suffer from either limited end-effector DOF or small payload capacity. In this dissertation, a quadrotor with a 2-DOF manipulator is investigated that has a unique topology to enable the…
In the present paper we focus our attention on the design of the feedback-based feed-forward controller asymptotically stabilizing the double-pendulum-type crane system with the time-varying rope length in the desired end position of…
This paper participates in the development of a unified approach to the control of aerial vehicles with extended flight envelopes. More precisely, modeling for control purposes of a class of thrust-propelled aerial vehicles subjected to…
Fault-tolerant control is crucial for safety-critical systems, such as quadrotors. State-of-art flight controllers can stabilize and control a quadrotor even when subjected to the complete loss of a rotor. However, these methods rely on…
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…
We discuss the equation of motion of the driven pendulum and generalize it to arbitrary driving angle. The pendulum will oscillate about a stable angle other than straight down if the drive amplitude and frequency are large enough for a…
The work studies a number of approaches to solving motion planning problem for a mobile robot with a trailer. Different control models of car-like robots are considered from the differential-geometric point of view. The same models can be…
This paper presents an adaptive modified Robust Inverse of Signum Error (AM-RISE) control method, which achieves reliable trajectory tracking control for a quadrotor unmanned aerial vehicle. The proposed method systematically accounts for…