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With explosively increasing demands for unmanned aerial vehicle (UAV) applications, reliable link acquisition for serving UAVs is required. Considering the dynamic characteristics of UAV, it is hugely challenging to persist a reliable link…
It is challenging to model and control a tail-sitter unmanned aerial vehicle (UAV) because its blended wing body generates complicated nonlinear aerodynamic effects, such as wing lift, fuselage drag, and propeller-wing interactions. We…
This paper outlines a complete methodology for modeling an on-orbit servicing mission scenario and designing a feedback control system for the attitude dynamics that is guaranteed to robustly meet pointing requirements, despite model…
Feedforward control can greatly improve the response time and control accuracy of any mechatronic system. However, in order to compensate for the effects of modeling errors or disturbances, it is imperative that this type of control works…
This paper focuses on the control of a system composed of an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV) which cooperate to manipulate an object. The two units are subject to actuator saturations and cooperate to move…
This paper presents the integration of a Variable Stiffness Link (VSL) for long-reach aerial manipulation, enabling adaptable mechanical coupling between an aerial multirotor platform and a dual-arm manipulator. Conventional long-reach…
This paper presents a framework for real-time optimal controlling of a heavy-duty skid-steered mobile platform for trajectory tracking. The importance of accurate real-time performance of the controller lies in safety considerations of…
Gliding offers small fixed-wing UAVs extended endurance and silent operation but requires accurate energy management, especially under wind disturbances and obstacle constraints. Traditional Total Energy Control Systems based controllers…
This paper proposes a framework for adaptively learning a feedback linearization-based tracking controller for an unknown system using discrete-time model-free policy-gradient parameter update rules. The primary advantage of the scheme over…
Modeling the kinematics and dynamics of robotics systems with suspended loads using dual quaternions has not been explored so far. This paper introduces a new innovative control strategy using dual quaternions for UAVs with cable-suspended…
A high-gain observer is used for a class of feedback linearisable nonlinear systems to synthesize safety-preserving controllers over the observer output. A bound on the distance between trajectories under state and output feedback is…
This paper addresses the three-dimensional path-following guidance problem for unmanned aerial vehicles under explicit actuator constraints. Unlike conventional approaches that assume unbounded control inputs or handle saturation…
This paper presents a model-based, adaptive, nonlinear controller for the bicopter stabilization and trajectory-tracking problem. The nonlinear controller is designed using the backstepping technique. Due to the non-invertibility of the…
A class of nonlinear control-affine systems with bounded time-varying drift is considered. It is assumed that the control vector fields together with their iterated Lie brackets satisfy Hormander's condition in a neighborhood of the origin.…
This study aims to design a motion/force controller for an aerial manipulator which guarantees the tracking of time-varying motion/force trajectories as well as the stability during the transition between free and contact motions. To this…
We consider the hovering control problem for a class of multi-rotor aerial platforms with generically oriented propellers. Given the intrinsically coupled translational and rotational dynamics of such vehicles, we first discuss some…
In this work uses innovative multi-channel load-sensing techniques to deploy unmanned aerial vehicles (UAVs) for surveillance. The research aims to improve the quality of data transmission methods and improve the efficiency and reliability…
In this paper, formation tracking for a multi-AUV system (MAS) using an improved adaptive sliding mode control method is studied in the Three Dimensional (3-D) underwater environment. Firstly, the kinematics model and the dynamic model of…
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…
Thanks to their quick placement and high flexibility, unmanned aerial vehicles (UAVs) can be very useful in the current and future wireless communication systems. With a growing number of smart devices and infrastructure-free communication…