Related papers: Trajectory Tracking for Tilted Hexarotors with Con…
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…
This paper presents a robust cascaded control architecture for over-actuated multirotors. It extends the Incremental Nonlinear Dynamic Inversion (INDI) control combined with structured H_inf control, initially proposed for under-actuated…
The quadrotor task of negotiating aggressive attitude maneuvers while adhering to motor constraints is addressed here. The majority of high level quadrotor Nonlinear Control System (NCS) solutions ignore motor control authority limitations,…
Quadrotors with the ability to perch on moving inclined surfaces can save energy and extend their travel distance by leveraging ground vehicles. Achieving dynamic perching places high demands on the performance of trajectory planning and…
This paper addresses the design and application controller for a small-size unmanned aerial vehicle (UAV). In this work, the main objective is to study the modeling and attitude controller design for a small size helicopter. Based on a…
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 global tracking strategies for the attitude dynamics of a rigid body. It is well known that global attractivity is prohibited for continuous attitude control systems on the special orthogonal group. Such topological…
This paper studies the $\alpha$-stability property of differentially flat nonlinear dynamical systems. The results build off the recently introduced notion of $\alpha$-stability, which is particularly amenable to characterize the ability of…
This work presents a geometric backstepping controller for a variable-tilt omnidirectional multirotor that explicitly accounts for both servo and rotor dynamics. Considering actuator dynamics is essential for more effective and reliable…
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 addresses the distributed attitude synchronization problem of multiple spacecraft with unknown inertia matrices. Two distributed adaptive controllers are proposed for the cases with and without a virtual leader to which a…
This paper extends our previous study on an explicit saturated control for a quadcopter, which ensures both constraint satisfaction and stability thanks to the linear representation of the system in the flat output space. The novelty here…
This paper addresses the design and application controller for a small-size unmanned aerial vehicle (UAV). In this work, the main objective is to study the modeling and attitude controller design for a small size helicopter. Based on a…
This paper addresses the problem of designing a trajectory tracking control law for a quadrotor UAV, subsequent to complete failure of a single rotor. The control design problem considers the reduced state space which excludes the angular…
Using the properties of differential flatness, a controllable system, such as a quadcoper model, may be transformed into a linear equivalent system via a coordinate change and an input mapping. This is a straightforward advantage for the…
Differential flatness has been used to provide diffeomorphic transformations for non-linear dynamics to become a linear controllable system. This greatly simplifies the control synthesis since in the flat output space, the dynamics appear…
This paper introduces a novel attitude controller for spacecraft subject to actuator saturation and multiple exclusion cone constraints. The proposed solution relies on a two-layer approach where the first layer prestabilizes the system…
The attitude control of a quadrotor is a fundamental problem, which has a pivotal role in a quadrotor stabilization and control. What makes this problem more challenging is the presence of uncertainty such as unmodelled dynamics and unknown…
The spacecraft attitude tracking problem is addressed with actuator faults and uncertainties among inertias, external disturbances, and, in particular, state estimates. A continuous sliding mode attitude controller is designed using…
This paper presents a framework for real-time optimal controlling of a heavy-duty skid-steered mobile platform for trajectory tracking. The importance of accurate real-time performance of the controller lies in safety considerations of…