Related papers: Nonlinear Incremental Control for Flexible Aircraf…
This work proposes a quaternion-based sliding variable that describes exponentially convergent error dynamics for any forward complete desired attitude trajectory. The proposed sliding variable directly operates on the non-Euclidean space…
This work presents a cascaded hybrid control framework for quadrotor trajectory tracking under nonlinear dynamics and external disturbances. In quadrotor systems, the altitude and attitude channels exhibit fast, structured dynamics that are…
Incremental stability is a property of dynamical and control systems, requiring the uniform asymptotic stability of every trajectory, rather than that of an equilibrium point or a particular time-varying trajectory. Similarly to stability,…
This paper proposes a novel nonlinear sliding mode state feedback controller for perturbed second-order systems. In analogy to a linear proportional-derivative (PD) feedback control, the proposed nonlinear scheme uses the output of interest…
This article concerns the development of the Vector Field Orientation - Active Disturbance Rejection (VFO-ADR) cascaded path-following controller for underactuated vehicles moving in a 3-dimensional space. The proposed concept of a cascaded…
This paper presents the control and stabilization of the rotary inverted pendulum based on a general controller scheme. The proposed scheme has its foundation in classical control theory, and the importance of an integrator in disturbance…
Take-off and landing are the most important maneuvers for an aircraft's flight. Deployment for small fixed-wing aircraft is usually made by hand but when payload increases, take-off, and landing maneuvers are then performed on a runway…
In this paper we address the control problem of aerial cable suspended load transportation, using multiple Unmanned Aerial Vehicles (UAVs). First, the dynamical model of the coupled system is obtained using the Newton-Euler formalism, for…
Sliding tasks performed by aerial robots are valuable for inspection and simple maintenance tasks at height, such as non-destructive testing and painting. Although various end-effector designs have been used for such tasks, non-actuated…
This paper proposes a nonlinear optimal guidance law that enables a pursuer to enclose a target within arbitrary geometric patterns, which extends beyond conventional circular encirclement. The design operates using only relative state…
This paper considers the prescribed performance control (PPC) of spacecraft attitude tracking under multiple physical constraints, focusing on the robust issues. A novel Barrier Lyapunov function is proposed to realize the…
This paper presents an intelligent controller for uncertain underactuated nonlinear systems. The adopted approach is based on sliding mode control and enhanced by an artificial neural network to cope with modeling inaccuracies and external…
Inverse dynamics is used extensively in robotics and biomechanics applications. In manipulator and legged robots, it can form the basis of an effective nonlinear control strategy by providing a robot with both accurate positional tracking…
Aeroelastic structures, from insect wings to wind turbine blades, experience transient unsteady aerodynamic loads that are coupled to their motion. Effective real-time control of flexible structures relies on accurate and efficient…
Tilted hexarotors embody a technology that remains partially unexploited in terms of its potential, especially concerning precise and concurrent position and attitude control. Focusing on these aerial platforms, we propose two control…
This paper presents a new adaptive sliding mode control (SMC) framework for quadrotors that achieves robust and agile flight under tight computational constraints. The proposed controller addresses key limitations of prior SMC formulations,…
We propose a robust nonlinear model predictive control (MPC) scheme for trajectory-tracking control of autonomous vehicles at the limits of handling on non-planar road surfaces. We derive the dynamics from first principles and selectively…
This work presents a geometric backstepping controller for a variable-tilt omnidirectional multirotor that explicitly accounts for both servo and rotor dynamics. Considering actuator dynamics is essential for more effective and reliable…
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…
A dynamic backstepping method is proposed to design controllers for nonlinear systems in the pure-feedback form, for which the traditional backstepping method suffers from solving the implicit nonlinear algebraic equation. The idea of this…