Related papers: Modeling and Implementation of Quadcopter Autonomo…
Interactional aerodynamics of a quadcopter in hover is numerically investigated in this study. The main objective is to understand major flow structures associated with unsteady airloads on multirotor aircraft. The overset mesh approach is…
A fail-safe algorithm in case of motor failure was developed, simulated, and tested. For practical fail-safe flight, the quadcopter may fly with only three or two opposing propellers. Altitude for two-propeller architecture was maintained…
In this paper, we model the planar motion of a quadcopter, and develop a linear model of the same. We perform stability analysis of the open loop system and develop a PD controller for its position control. We compare the closed loop…
A flight trajectory defines how exactly a quadrocopter moves in the three-dimensional space from one position to another. Automatic flight trajectory planning faces challenges such as high computational effort and a lack of precision.…
Using the properties of differential flatness, a controllable system, such as a quadcoper model, may be transformed into a linear equivalent system via a coordinate change and an input mapping. This is a straightforward advantage for the…
This paper investigates two distinct approaches to the dynamic modeling of aerial continuum manipulators (ACMs): the decoupled and the coupled formulations. Both open-loop and closed-loop behaviors of a representative ACM are analyzed. The…
Redundancy and parallelism make decentralized multi-robot systems appealing solutions for the exploration of extreme environments. However, effective cooperation often requires team-wide connectivity and a carefully designed communication…
Over the last few decades, multicopters have become significantly popular because of their various applications. However, multicopters suffer from poor endurance performance as compared to other aircraft configurations with lifting…
Quadrotors are highly nonlinear dynamical systems that require carefully tuned controllers to be pushed to their physical limits. Recently, learning-based control policies have been proposed for quadrotors, as they would potentially allow…
This paper develops an adaptive autopilot for quadcopters with unknown dynamics. To do this, the PX4 autopilot architecture is modified so that the feedback and feedforward controllers are replaced by adaptive control laws based on…
In this paper, we present a control design methodology, stability criteria, and performance bounds for autonomous helicopter aerial refueling. Autonomous aerial refueling is particularly difficult due to the aerodynamic interaction between…
This work focuses on the study of tethered fights of a micro quadcopter, with the aim of supplying continuous power to a small-sized aerial robot. Multiple features for facilitating the interaction between a tethered micro quadcopter and a…
Wind resistance control is an essential feature for quadcopters to maintain their position to avoid deviation from target position and prevent collisions with obstacles. Conventionally, cascaded PID controller is used for the control of…
This paper develops an adaptive PID autotuner for multicopters, and presents simulation and experimental results. The autotuner consists of adaptive digital control laws based on retrospective cost adaptive control implemented in the PX4…
This study focuses on designing and developing a mathematically based quadcopter rotational dynamics simulation framework for testing reinforcement learning (RL) algorithms in many flexible configurations. The design of the simulation…
Mechanics of materials is a classic course of engineering presenting the fundamentals of strain and stress analysis to junior undergraduate students in several engineering majors. So far, material deformation and strain have been only…
Reaching fast and autonomous flight requires computationally efficient and robust algorithms. To this end, we train Guidance & Control Networks to approximate optimal control policies ranging from energy-optimal to time-optimal flight. We…
Autonomous unmanned aerial vehicles (UAVs) that can execute aggressive (i.e., high-speed and high-acceleration) maneuvers have attracted significant attention in the past few years. This paper focuses on accurate tracking of aggressive…
This paper presents a model of an agile tail-sitter aircraft, which can operate as a helicopter as well as capable of transition to fixed-wing flight. Aerodynamics of the co-axial counter-rotating propellers with quad rotors are analysed…
The design of a prototype to carry out take-off and flight tests with tethered aircrafts is presented. The system features a ground station equipped with a winch and a linear motion system. The motion of these two components is regulated by…