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We address one of the main challenges towards autonomous quadrotor flight in complex environments, which is flight through narrow gaps. While previous works relied on off-board localization systems or on accurate prior knowledge of the gap…

This paper presents nonlinear tracking control systems for a quadrotor unmanned aerial vehicle under the influence of uncertainties. Assuming that there exist unstructured disturbances in the translational dynamics and the attitude…

In this paper, an adaptive super-twisting controller is designed for an agile maneuvering quadrotor unmanned aerial vehicle to achieve accurate trajectory tracking in the presence of external disturbances. A cascaded control architecture is…

The previously introduced aerial manipulation systems suffer from either limited end-effector DOF or small payload capacity. In this dissertation, a quadrotor with a 2-DOF manipulator is investigated that has a unique topology to enable the…

This paper proposes a distributed diagnosis scheme to detect and estimate actuator and power line faults in DC microgrids (e.g., electric-vehicle charging microgrids) subject to unknown power loads and stochastic noise. To address actuator…

This paper proposes a model predictive trajectory tracking approach for quadrotors subject to input constraints. Our proposed approach relies on a hierarchical control strategy with an outer-loop feedback generating the required thrust and…

An Adaptive Fault-tolerant Controller procedure for a class of the affine nonlinear system is developed in this paper. This methodology hides both the faults and external disturbances. Compare to the procedure that require separate fault…

The ability to perform aggressive movements, which are called aggressive flights, is important for quadrotors during navigation. However, aggressive quadrotor flights are still a great challenge to practical applications. The existing…

Safety-critical cyber-physical systems (CPS), such as quadrotor UAVs, are particularly prone to cyber attacks, which can result in significant consequences if not detected promptly and accurately. During outdoor operations, the nonlinear…

In this paper, we present a distributed optimal multiagent control scheme for quadrotor formation tracking under localization errors. Our control architecture is based on a leader-follower approach, where a single leader quadrotor tracks a…

Nonlinear PID control systems for a quadrotor UAV are proposed to follow an attitude tracking command and a position tracking command. The control systems are developed directly on the special Euclidean group to avoid singularities of…

Aerial manipulator, which is composed of an UAV (Unmanned Aerial Vehicle) and a multi-link manipulator and can perform aerial manipulation, has shown great potential of applications. However, dynamic coupling between the UAV and the…

Quadrotor systems are common and beneficial for many fields, but their intricate behavior often makes it challenging to design effective and optimal control strategies. Some traditional approaches to nonlinear control often rely on local…

Unmanned aerial vehicles (UAVs) are finding their way into offshore applications. In this work, we postulate an original system that entails a marine locomotive quadrotor UAV that manipulates the velocity of a floating buoy by means of a…

Recent applications of unmanned aerial systems (UAS) to precision agriculture have shown increased ease and efficiency in data collection at precise remote locations. However, further enhancement of the field requires operation over long…

This paper proposes an adaptive tracking strategy with mass-inertia estimation for aerial transportation problems of multi-rotor UAVs. The dynamic model of multi-rotor UAVs with disturbances is firstly developed with a linearly…

Ensuring safe separation between aircraft is a critical challenge in air traffic management, particularly in urban air mobility (UAM) environments where high traffic density and low altitudes require precise control. In these environments,…

In this paper, we propose a data-driven framework for collaborative wideband spectrum sensing and scheduling for networked unmanned aerial vehicles (UAVs), which act as the secondary users to opportunistically utilize detected spectrum…

Data-driven fault diagnostics of safety-critical systems often faces the challenge of a complete lack of labeled data associated with faulty system conditions (i.e., fault types) at training time. Since an unknown number and nature of fault…

Estimating and detecting faults is crucial in ensuring safe and efficient automated systems. In the presence of disturbances, noise or varying system dynamics, such estimation is even more challenging. To address this challenge, this…