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This paper aims to develop a Fault Tolerant Control (FTC) architecture, for the case of a damaged actuator for a multirotor UAV that can be applied across multirotor platforms based on their Attainable Virtual Control Set (AVCS). The…
We propose a control protocol based on the prescribed performance control (PPC) methodology for a quadrotor unmanned aerial vehicle (UAV). Quadrotor systems belong to the class of underactuated systems for which the original PPC methodology…
In this work, the autonomous control of a quadrotor-manipulator unmanned aerial vehicle is treated using an extended dynamic model. Due to persistent aerodynamic disturbances and dynamic couplings, the control of a quadrotor-manipulator…
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…
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 paper focuses on the use of unknown input observers for detection and isolation of actuator and effector faults with control reconfiguration in overactuated systems. The control allocation actively uses input redundancy in order to…
A set of hardware in the loop simulation methods based on the UAV model is proposed to create fault data, which is used to judge the parts where faults happen. Actual flight experimental data is utilized to prove the reliability of Simulink…
In recent years, autonomous unmanned aerial vehicle (UAV) technology has seen rapid advancements, significantly improving operational efficiency and mitigating risks associated with manual tasks in domains such as industrial inspection,…
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…
In this letter, we present a model for quadrotor unmanned aerial vehicles (UAVs), including control, communication, and wireless charging. In so doing, we investigate associated energy and battery dynamics. Indeed, energy and battery…
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…
In this paper, we present an autonomous flight controller for a quadcopter with thrust vectoring capabilities. This UAV falls in the category of multirotors with tilt-motion enabled rotors. Since the vehicle considered is over-actuated in…
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…
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
This paper proposes a unidirectionally connected fully actuated system (UC-FAS) approach for the sub-stabilization and tracking control of 6-DOF quadrotors, tackling limitations both in state-space and FAS framework to some extent. The…
This research offers a novel framework for dynamic task assignment for unmanned aerial vehicles (UAVs) in cooperative search settings. Notably, it incorporates post-fault UAV capabilities into job assignment techniques, assuring operational…
In this paper, we present a methodology for actuator and sensor fault estimation in nonlinear systems. The method consists in augmenting the system dynamics with an approximated ultra-local model (a finite chain of integrators) for the…
The mechanical simplicity, hover capabilities, and high agility of quadrotors lead to a fast adaption in the industry for inspection, exploration, and urban aerial mobility. On the other hand, the unstable and underactuated dynamics of…
Safety-critical intelligent cyber-physical systems, such as quadrotor unmanned aerial vehicles (UAVs), are vulnerable to different types of cyber attacks, and the absence of timely and accurate attack detection can lead to severe…
This paper presents an aggressiveness-aware control framework for quadrotor UAVs that integrates learning-based oracles to mitigate the effects of unknown disturbances. Starting from a nominal tracking controller on $\mathrm{SE}(3)$,…