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This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to many existing control strategies, which do not consider…

This paper develops an adaptive tracking controller for a class of nonlinear systems with parametric uncertainty subject to state constraints. The system is characterized by a strict-feedback structure with unknown parameters entering both…

The demand for accurate and fast trajectory tracking for multirotor Unmanned Aerial Vehicles (UAVs) have grown recently due to advances in UAV avionics technology and application domains. In many applications, the multirotor UAV is required…

In this paper, a novel robust tracking control law is proposed for constrained robots under unknown stiffness environment. The stability and the robustness of the controller are proved using a Lyapunov-based approach where the relationship…

Magnetic levitation positioning technology has attracted considerable research efforts and dedicated attention due to its extremely attractive features. The technology offers high-precision, contactless, dust/lubricant-free, multi-axis, and…

Path following and lateral stability are crucial issues for autonomous vehicles. Moreover, these problems increase in complexity when handling articulated heavy-duty vehicles due to their poor manoeuvrability, large sizes and mass…

We propose a combined method for the collaborative transportation of a suspended payload by a team of rotorcraft. A recent distance-based formation-motion control algorithm based on assigning distance disagreements among robots generates…

Neglecting complex aerodynamic effects hinders high-speed yet high-precision multirotor autonomy. In this paper, we present a computationally efficient learning-based model predictive controller that simultaneously optimizes a trajectory…

We propose a multibody model of a freewing UAV. This model allows obtaining simulations of the UAV's behaviour and, in the future, to design a control law stabilising the entire flight envelope (hovering and forward flight). We also…

We present a new stability proof for cascaded geometric control used by aerial vehicles tracking time-varying position trajectories. Our approach uses sliding variables and a recently proposed quaternion-based sliding controller to…

In controlling systems with large operating envelopes, it is often necessary to adjust the desired dynamics according to operating conditions. This paper presents a robust adaptive control architecture for linear parameter-varying (LPV)…

We provide theoretical guarantees for recursive feasibility and practical exponential stability of the closed-loop system of a feedback linearizable nonlinear system when controlled by a robust data-driven nonlinear predictive control…

This published paper investigates the distributed tracking control problem for a class of Euler-Lagrange multi-agent systems when the agents can only measure the positions. In this case, the lack of the separation principle and the strong…

This paper studies the impact of rigidly attached heavy payload placement - where the payload mass significantly influences the UAV's dynamics - on the stability and control performance of a multirotor unmanned aerial vehicle (UAV). In…

In this paper, we present a novel cascade control structure with formal guarantees of uniform almost global asymptotic stability for the state tracking error dynamics of a quadcopter. The proposed approach features a model predictive…

Attitude stabilization of unmanned aerial vehicles (UAVs) in uncertain environments presents significant challenges due to nonlinear dynamics, parameter variations, and sensor limitations. This paper presents a comparative study of…

In recent years, Neural Networks (NNs) have been employed to control nonlinear systems due to their potential capability in dealing with situations that might be difficult for conventional nonlinear control schemes. However, to the best of…

This paper describes the design of a linear quadratic gaussian (LQG) for trajectory tracking control of UAV Bicopter. In this work, disturbance in the form of payload significantly affects the trajectory tracking control process on the UAV…

This paper proposes a novel multi-objective control framework for linear time-invariant systems in which performance and robustness can be achieved in a complementary way instead of a trade-off. In particular, a state-space solution is…

An omnidirectional multirotor has the maneuverability of decoupled translational and rotational motions, superseding the traditional multirotors' motion capability. Such maneuverability is achieved due to the ability of the omnidirectional…