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In the paper "Control Design for UAV Quadrotors via Embedded Model Control" [1], the authors designed a complete control unit for a UAV Quadrotor, based on the Embedded Model Control (EMC) methodology, in combination with the Feedback…
In this work, an $H_{\infty}$ performance fault recovery control problem for a team of multi-agent systems that is subject to actuator faults is studied. Our main objective is to design a distributed control reconfiguration strategy such…
This paper proposes an adaptive control allocation approach for uncertain over-actuated systems with actuator saturation. The proposed method does not require uncertainty estimation or a persistent excitation assumption. Using the…
Aerial robots are required to remain operational even in the event of system disturbances, damages, or failures to ensure resilient and robust task completion and safety. One common failure case is propeller damage, which presents a…
Capabilities of long-range flight and vertical take-off and landing (VTOL) are essential for Urban Air Mobility (UAM). Tiltrotor VTOLs have the advantage of balancing control simplicity and system complexity due to their redundant control…
Unmanned aerial vehicles (UAVs) are becoming a viable platform for sensing and estimation in a wide variety of applications including disaster response, search and rescue, and security monitoring. These sensing UAVs have limited battery and…
Controlling a distributed autonomous unmanned aerial vehicle (UAV) formation is usually considered in the context of recovering the connectivity graph should a single UAV agent be lost. At the same time, little focus is made on how such…
This paper proposes a learning-based passive fault-tolerant control (PFTC) method for quadrotor capable of handling arbitrary single-rotor failures, including conditions ranging from fault-free to complete rotor failure, without requiring…
Accurate actuation models are critical for bridging the gap between simulation and real robot behavior, yet obtaining high-fidelity actuator dynamics typically requires dedicated test stands and torque sensing. We present a trajectory-based…
This paper investigates the position-tracking control problem for fixed-wing unmanned aerial vehicles (UAVs) equipped with a turbojet engine via an integrated flight and propulsion control scheme. To this end, a hierarchical control…
This paper presents the development of a sliding mode controller using the backstepping approach. The controller is employed to synthesize tracking errors and Lyapunov functions. A novel state-space representation is formulated by…
The coupling disturbance between the manipulator and the unmanned aerial vehicle (UAV) deteriorates the control performance of system. To get high performance of the aerial manipulator, a robust fractional order fast terminal sliding mode…
This paper describes the synthesis and evaluation of a novel state estimator for a Quadrotor Micro Aerial Vehicle. Dynamic equations which relate acceleration, attitude and the aero-dynamic propeller drag are encapsulated in an extended…
This technical note focuses on the control of a quadrotor unmanned aerial vehicle (UAV) tethered to the ground. The control objective is to stabilize the UAV to the desired position while ensuring that the cable remains taut at all times. A…
This paper presents a novel approach to utilizing underactuated quadrotor Unmanned Aerial Vehicles (UAVs) as assistive devices in cooperative payload transportation task through human guidance and physical interaction. The proposed system…
Over the past several decades there has been a constant increase in the use of Unmanned Aerial Systems (UAS). Hence, there has also been a growth in the number of control algorithms to service the many applications embodied by these…
This paper transfers three statistical methods from particle physics to multirotor propeller fault detection: the likelihood ratio test (LRT) for binary detection, the CLs modified frequentist method for false alarm rate control, and…
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…
Quadrotor endurance is ultimately limited by battery behavior, yet most energy aware planning treats the battery as a simple energy reservoir and overlooks how flight motions induce dynamic current loads that accelerate battery degradation.…
This paper presents a framework for controlled emergency landing of a quadcopter, experiencing a rotor failure, away from sensitive areas. A complete mathematical model capturing the dynamics of the system is presented that takes the…