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While Unmanned Aerial Vehicles (UAVs) are increasingly deployed in several missions, their inability of reliable and consistent autonomous landing poses a major setback for deploying such systems truly autonomously. In this paper we present…

With the advent of intelligent transport, quadrotors are becoming an attractive solution while lifting or dropping payloads during emergency evacuations, construction works, etc. During such operations, dynamic variations in (possibly…

The problem of stabilization of a system of coupled PDEs of the forth-order by means of boundary control is investigated. The considered setup arises from the classical Euler-Bernoulli beam model, and constitutes a generalization of…

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…

Collaborative transportation of cable-suspended payloads by teams of Unmanned Aerial Vehicles (UAVs) has the potential to enhance payload capacity, adapt to different payload shapes, and provide built-in compliance, making it attractive for…

Learning-based methods are powerful in handling complex scenarios. However, it is still challenging to use learning-based methods under uncertain environments while stability, safety, and real-time performance of the system are desired to…

The control problem of a multi-copter swarm, mechanically coupled through a modular lattice structure of connecting rods, is considered in this article. The system's structural elasticity is considered in deriving the system's dynamics. The…

Tail-sitter vertical takeoff and landing (VTOL) unmanned aerial vehicles (UAVs) have the capability of hovering and performing efficient level flight with compact mechanical structures. We present a unified controller design for such UAVs,…

This paper presents, for the first time, the soft planar vertical take-off and landing (Soft-PVTOL) aircraft. This concept captures the soft aerial vehicle's fundamental dynamics with a minimum number of states and inputs but retains the…

Unmanned Aerial Vehicle (UAV) systems are being increasingly used in a broad range of scenarios and applications. However, their deployment in urban areas poses important technical challenges. One of the most prominent concerns is the…

This study presents a framework to guarantee safety for a class of second-order nonlinear systems under multiple state and input constraints. To facilitate real-world applications, a safety-critical controller must consider multiple…

The task of inducing, via continuous static state-feedback control, an asymptotically stable heteroclinic orbit in a nonlinear control system is considered in this paper. The main motivation comes from the problem of ensuring convergence to…

Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the…

For a class of uncertain systems, a non-overshooting sliding mode control is presented to make them globally exponentially stable and without overshoot. Even when the unknown stochastic disturbance exists, and the time-variant reference…

This paper proposes a new methodology for design of a stabilizing control law for multi-input linear systems with time-varying, singular gains on the control. The results presented here assume the control gain to satisfy persistence of…

Hybrid systems theory has become a powerful approach for designing feedback controllers that achieve dynamically stable bipedal locomotion, both formally and in practice. This paper presents an analytical framework 1) to address…

In this paper, we consider the problem of input-output linearization of the longitudinal flight dynamics. In longitudinal flight dynamics, inputs are typically thrust and elevator deflection whereas the outputs are the velocity and the…

This work addresses the practical problem of distributed formation tracking control of a group of quadrotor vehicles in a relaxed sensing graph topology with a very limited sensor set, where only one leader vehicle can access the global…

We develop an optimization-based framework for joint real-time trajectory planning and feedback control of feedback-linearizable systems. To achieve this goal, we define a target trajectory as the optimal solution of a time-varying…

Autonomous unmanned aerial vehicles (UAVs) that can execute aggressive (i.e., high-speed and high-acceleration) maneuvers have attracted significant attention in the past few years. This paper focuses on accurate tracking of aggressive…