Related papers: Modeling and Implementation of Quadcopter Autonomo…
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…
This study explores modeling and control for quadrotor acrobatics, focusing on executing flip maneuvers. Flips are an elegant way to deliver sensor probes into no-fly or hazardous zones, like volcanic vents. Successful flips require…
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…
Automating drone-assisted processes is a complex task. Many solutions rely on trajectory generation and tracking, whereas in contrast, path-following control is a particularly promising approach, offering an intuitive and natural approach…
This book provides a solution to the control and motion planning design for an octocopter system. It includes a particular choice of control and motion planning algorithms which is based on the authors' previous research work, so it can be…
The flight of a quadcopter drone, readily available as a toy, is analyzed using simple physics concepts. A smartphone with built-in accelerometer and gyroscope was attached to the drone to register the accelerations and angular velocities…
The attitude dynamics of aircraft and spacecraft exhibit significantly nonlinear behaviour. In spacecraft, torque is generated through reaction wheels and control moment gyros. In aircraft, torque is generated using lift on control…
This paper develops a novel physics-based approach for fault-resilient multi-quadcopter coordination in the presence of abrupt quadcopter failure. Our approach consists of two main layers: (i) high-level physics-based guidance to safely…
Hybrid unmanned aerial vehicles (UAVs) integrate the efficient forward flight of fixed-wing and vertical takeoff and landing (VTOL) capabilities of multicopter UAVs. This paper presents the modeling, control and simulation of a new type of…
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…
A quadcopter is an under-actuated system with only four control inputs for six degrees of freedom, and yet the human control of a quadcopter is simple enough to be learned with some practice. In this work, we consider the problem of human…
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…
In systems control, the dynamics of a system are governed by modulating its inputs to achieve a desired outcome. For example, to control the thrust of a quad-copter propeller the controller modulates its rotation rate, relying on a…
Robust adaptive control methods are essential for maintaining quadcopter performance under external disturbances and model uncertainties. However, fragmented evaluations across tasks, simulators, and implementations hinder systematic…
We consider a quadcopter operating in a turbulent windy environment. The turbulent environment may be imposed on a quadcopter by structures, landscapes, terrains and most importantly by the unique physical phenomena in the lower atmosphere.…
Quadcopter trajectory tracking control has been extensively investigated and implemented in the past. Available controls mostly use the Euler angle standards to describe the quadcopters rotational kinematics and dynamics. As a result, the…
Autonomous unpowered flight is a challenge for control and guidance systems: all the energy the aircraft might use during flight has to be harvested directly from the atmosphere. We investigate the design of an algorithm that optimizes the…
This paper proposes the ProxFly, a residual deep Reinforcement Learning (RL)-based controller for close proximity quadcopter flight. Specifically, we design a residual module on top of a cascaded controller (denoted as basic controller) to…
Payload grasping and transportation with quadcopters is an active research area that has rapidly developed over the last decade. To grasp a payload without human interaction, most state-of-the-art approaches apply robotic arms that are…
Multicopters are becoming increasingly important in both civil and military fields. Currently, most multicopter propulsion systems are designed by experience and trial-and-error experiments, which are costly and ineffective. This paper…