Related papers: Full Attitude Intelligent Controller Design of a H…
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…
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…
We present a switching scheme, which uses both the attitude-error quaternion (AEQ) and the angular-velocity error, for controlling the rotational degrees of freedom of an uncrewed aerial vehicle (UAV) during flight. In this approach, the…
The general objective of this Ph.D. thesis is to study the dynamics and control of rigid and flexible spacecraft supported by a high-fidelity numerical simulation environment. The demand for greater attitude pointing precision, attitude…
This paper addresses the distributed attitude synchronization problem of multiple spacecraft with unknown inertia matrices. Two distributed adaptive controllers are proposed for the cases with and without a virtual leader to which a…
This paper proposes an approach to addresses the control challenges posed by a fault-induced uncertainty in both the dynamics and control input effectiveness of a class of hierarchical nonlinear systems in which the high-level dynamics is…
Multiple parafoil landing is an enabling technology for massive supply delivery missions. However, it is still an open question to design a collision-free, computation-efficient guidance and control method for unpowered parafoils. To…
This paper provides new results for a robust adaptive tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid…
This paper presents a cascaded control architecture, based on nonlinear dynamic inversion (NDI), for rigid body attitude control. The proposed controller works directly with the rotation matrix parameterization, that is, with elements of…
This paper presents the design of a 6-DOF all-terrain micro aerial vehicle and two control strategies for multimodal flight, which are experimentally validated. The micro aerial vehicle is propelled by four motors and controlled by a single…
In this work, we propose a centralized control method based on nonlinear model predictive control to let multiple UAVs manipulate the full pose of an object via cables. At the best of the authors knowledge this is the first method that…
With quadrotor use seeing extensive growth in recent years, the autonomous control of these Unmanned Aerial Vehicles (UAVs) is an increasing relevant and intersting field. In this paper a linear state-space approach at designing a stable…
Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…
This paper introduces a learning-based low-level controller for quadcopters, which adaptively controls quadcopters with significant variations in mass, size, and actuator capabilities. Our approach leverages a combination of imitation…
This paper investigates the position-tracking control problem for fixed-wing unmanned aerial vehicles (UAVs) equipped with a turbojet engine via an integrated flight and propulsion control scheme. To this end, a hierarchical control…
Reliable helipad detection is essential for Autonomous Aerial Vehicle (AAV) landing, especially under GPS-denied or visually degraded conditions. While modern detectors such as YOLOv8 offer strong baseline performance, single-model…
Tail-sitter vertical takeoff and landing (VTOL) unmanned aerial vehicles (UAVs) have the capability of hovering and performing efficient level flight with compact mechanical structures. We present a unified controller design for such UAVs,…
This paper presents a nonlinear control law for the stabilization of a fixed-wing UAV. Such controller solves the path-following problem and the longitudinal control problem in a single control. Furthermore, the control design is performed…
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…
This paper presents an adaptive, model-based, nonlinear controller for the bicopter trajectory-tracking problem. The nonlinear controller is constructed by dynamically extending the bicopter model, stabilizing the extended dynamics using…