Related papers: Lifting-wing Quadcopter Modeling and Unified Contr…
In this work we present the optimization-based design and control of a fully-actuated omnidirectional hexarotor. The tilt angles of the propellers are designed by maximizing the control wrench applied by the propellers. This maximizes (a)…
In this study, a fault-tolerant super-twisting sliding mode controller with a control allocation system for a quadrotor aircraft is proposed. Super twisting sliding mode control is a robust control technique that handles a system with a…
Quadcopter trajectory tracking control has been extensively investigated and implemented in the past. Available controls mostly use the Euler angle standards to describe the quadcopters rotational kinematics and dynamics. As a result, the…
Unmanned aerial-aquatic vehicles (UAAVs) can operate both in the air and underwater, giving them broad application prospects. Inspired by the dual-function wings of puffins, we propose a UAAV with amphibious wings to address the challenge…
Aerial unperching of multirotors has received little attention as opposed to perching that has been investigated to elongate operation time. This study presents a new aerial robot capable of both perching and unperching autonomously on/from…
This paper presents a solution for the state estimation and control problems for a class of unconventional vertical takeoff and landing (VTOL) UAVs operating in forward-flight conditions. A tightly-coupled state estimation approach is used…
In this work, we propose a novel quadrotor design capable of folding its arms vertically to grasp objects and navigate through narrow spaces. The transformation is controlled actively by a central servomotor, gears, and racks. The arms…
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…
Extending the maneuverability of unmanned areal vehicles promises to yield a considerable increase in the areas in which these systems can be used. Some such applications are the performance of more complicated inspection tasks and the…
As quadrotors take on an increasingly diverse range of roles, researchers often need to develop new hardware platforms tailored for specific tasks, introducing significant engineering overhead. In this article, we introduce the UniQuad…
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…
Improving sampling efficiency and generalization capability is critical for the successful data-driven control of quadrotor unmanned aerial vehicles (UAVs) that are inherently unstable. While various reinforcement learning (RL) approaches…
Sliding mode control of a launch vehicle during its atmospheric flight phase is studied in the presence of unmatched disturbances. Linear time-varying dynamics of the aerospace vehicle is converted into a systematic formula and then dynamic…
Performing rescuing and surveillance operations with autonomous ground and aerial vehicles become more and more apparent task. Involving unmanned robot systems allows making these operations more efficient, safe and reliable especially in…
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…
This paper proposes a solution to the attitude tracking problem for a novel quadrotor tailsitter unmanned aerial vehicle called swiveling biplane quadrotor. The proposed vehicle design addresses the lack of yaw control authority in…
This work addresses the landing problem of an aerial vehicle, exemplified by a simple quadrotor, on a moving platform using image-based visual servo control. First, the mathematical model of the quadrotor aircraft is introduced, followed by…
Unmanned aerial vehicles (UAVs), especially multicopters, have recently gained popularity for use in surveillance, monitoring, inspection, and search and rescue missions. Their maneuverability and ability to operate in confined spaces make…
To enhance the obstacle-crossing and endurance capabilities of vehicles operating in complex environments, this paper presents the design of a hybrid terrestrial/aerial coaxial tilt-rotor vehicle, TactV, which integrates advantages such as…
In this paper, we study the quadrotor UAV attitude control on SO(3) in the presence of unknown disturbances and model uncertainties. L1 adaptive control for UAVs using Euler angles/quaternions is shown to exhibit robustness and precise…