Related papers: Reliable Flight Control: Gravity-Compensation-Firs…
Overactuated omnidirectional flying vehicles are capable of generating force and torque in any direction, which is important for applications such as contact-based industrial inspection. This comes at the price of an increase in model…
Aerial robots are required to remain operational even in the event of system disturbances, damages, or failures to ensure resilient and robust task completion and safety. One common failure case is propeller damage, which presents a…
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…
In this paper we present a learning-based tracking controller based on Gaussian processes (GP) for a fault-tolerant hexarotor in a recovery maneuver. In particular, to estimate certain uncertainties that appear in a hexacopter vehicle with…
Propeller failure is a major cause of multirotor Unmanned Aerial Vehicles (UAVs) crashes. While conventional multirotor systems struggle to address this issue due to underactuation, over-actuated platforms can continue flying with…
In the evolving landscape of high-speed agile quadrotor flight, achieving precise trajectory tracking at the platform's operational limits is paramount. Controllers must handle actuator constraints, exhibit robustness to disturbances, and…
Given the cost and critical functions of satellite constellations, ensuring mission longevity and safe decommissioning is essential for space sustainability. This article presents a Model Predictive Control for spacecraft trajectory and…
Fault tolerance is achieved through multiply redundant hardware systems in large civil aircraft. This means of achieving fault tolerance is infeasible for small compact unmanned aerial vehicles. In this paper we apply a fault tolerant…
This is an intuitive introduction to classic sliding mode control that shows how the associated assumptions and condition for its use arise in the context of a derivation of the method. It derives a controller that obviates the need for the…
Formation-flying studies to date have required continuous and minute corrections of the orbital elements and attitudes of the spacecraft.This increases the complexity, and associated risk, of controlling the formation, which often makes…
This article aims to derive a practical tracking control algorithm for flexible air-breathing hypersonic vehicles (FAHVs) with lumped disturbances, unmeasurable states and actuator failures. Based on the framework of the backstepping…
This paper presents a passive compliance control for aerial manipulators to achieve stable environmental interactions. The main challenge is the absence of actuation along body-planar directions of the aerial vehicle which might be required…
We propose a novel adaptive reinforcement learning control approach for fault tolerant control of degrading systems that is not preceded by a fault detection and diagnosis step. Therefore, \textit{a priori} knowledge of faults that may…
This study proposes a uniform passive fault-tolerant control (FTC) method for a quadcopter that does not rely on fault information subject to one, two adjacent, two opposite, or three rotors failure. The uniform control implies that the…
This paper examines the problem of achieving "grace" when controlling dynamical systems for safety, which is defined in terms of providing multi-layered safety assurances. Namely, two safety layers are created: a primary layer that…
This study presents a novel reinforcement learning (RL)-based control framework aimed at enhancing the safety and robustness of the quadcopter, with a specific focus on resilience to in-flight one propeller failure. Addressing the critical…
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…
Stability and satisfactory performance are critical control requirements for Unmanned Aerial Vehicle (UAV) applications. While conventional control systems for UAVs aim to ensure flight stability and safe operation while accomplishing…
We present a novel, high-performance attitude control law for multicopters, with a view to recovery from large disturbances. The controller is compared to three well-established alternatives from the literature. All controllers considered…
The ability of aerial robots to operate in the presence of failures is crucial in various applications that demand continuous operations, such as surveillance, monitoring, and inspection. In this paper, we propose a fault-tolerant control…