Related papers: Stability and Robustness Analysis of Plug-Pulling …
This work studies the design of safe control policies for large-scale non-linear systems operating in uncertain environments. In such a case, the robust control framework is a principled approach to safety that aims to maximize the…
Achieving precise, highly-dynamic maneuvers with Unmanned Aerial Vehicles (UAVs) is a major challenge due to the complexity of the associated aerodynamics. In particular, unsteady effects -- as might be experienced in post-stall regimes or…
Aerial manipulation (AM) promises to move Unmanned Aerial Vehicles (UAVs) beyond passive inspection to contact-rich tasks such as grasping, assembly, and in-situ maintenance. Most prior AM demonstrations rely on external motion capture…
We investigate pneumatic non-prehensile manipulation (i.e., blowing) as a means of efficiently moving scattered objects into a target receptacle. Due to the chaotic nature of aerodynamic forces, a blowing controller must (i) continually…
Multilinked aerial robot is one of the state-of-the-art works in aerial robotics, which demonstrates the deformability benefiting both maneuvering and manipulation. However, the performance in outdoor physical world has not yet been…
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…
In this study, a distinct reconfigurable fault-tolerant flight control strategy is addressed for mitigating one of the persistent safety-critical issue, i.e. loss of control triggered by actuator faults. The attainable acceleration set…
This paper presents a method to control a manipulator system grasping a rigid-body payload so that the motion of the combined system in consequence of externally applied forces to be the same as another free-floating rigid-body (with…
Insects and birds are often faced by opposing requirements for agile and stable flight. Here, we explore the interplay between aerodynamic effort, maneuverability, and stability in a model system that consists of a $\Lambda$-shaped flyer…
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…
Multirotor aerial robots excel at maneuvering in three-dimensional space, and recent advances enable nimble navigation in cluttered and confined environments, especially for small airframes. By contrast, platforms built for high-altitude…
The innovative concept of Electric Aircraft is a challenging topic involving different control objectives. For instance, it becomes possible to reduce the size and the weight of the generator by using the battery as an auxiliary generator…
This paper is an addition to an article previously published by three of the authors that addresses the control of convertible fixed-wing aircraft with vectorized thrust. The control solution here developed extends the one presented in the…
In this paper, an exponentially stable trajectory tracking controller is proposed for multi-UAV payload transport. The multi-UAV payload system has a 2-DOF magnetic spherical joint between the UAVs and the vertical rigid links of the…
This paper presents a novel model predictive control (MPC) approach for autonomous pick-and-place between moving platforms with a hook-equipped aerial manipulator. First, for accurate and rapid modeling of the complex dynamics, a digital…
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…
Cable-suspended aerial transportation systems are employed extensively across various industries. The capability to flexibly adjust the relative position between the multirotor and the payload has spurred growing interest in the system…
Development of robust dynamical systems and networks such as autonomous aircraft systems capable of accomplishing complex missions faces challenges due to the dynamically evolving uncertainties coming from model uncertainties, necessity to…
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…
This paper investigates the utilization of differential thrust to help a commercial aircraft with a damaged vertical stabilizer regain its lateral/directional stability. In the event of an aircraft losing its vertical stabilizer, the…