Related papers: Control of convertible UAV with vectorized thrust
This work addresses the problem of robust attitude control of quadcopters. First, the mathematical model of the quadcopter is derived considering factors such as nonlinearity, external disturbances, uncertain dynamics and strong coupling.…
Cooperative control of multi-UAV systems has attracted substantial research attention due to its significance in various application sectors such as emergency response, search and rescue missions, and critical infrastructure inspection.…
This paper presents a lifting-wing multirotor UAV that allows long-range flight. The UAV features a lifting wing in a special mounting angle that works together with rotors to supply lift when it flies forward, achieving a reduction in…
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…
This paper presents an efficient risk management model for unmanned aerial vehicles or UAVs. Our proposed risk management establishes a cyclic model with a continuous and iterative structure that is very adaptable to agile methods and all…
We present a closed-loop control strategy for a delta-wing unmanned aerial aquatic-vehicle (UAAV) that enables autonomous swim, fly, and water-to-air transition. Our control system consists of a hybrid state estimator and a closed-loop…
In this paper, we investigate the problem of coordinated path following for fixed-wing UAVs with speed constraints in 2D plane. The objective is to steer a fleet of UAVs along the path(s) while achieving the desired sequenced inter-UAV arc…
This paper presents the implementation of a Recurrent Neural Network (RNN) based-controller for the stabilization of the flight transition maneuver (hover-cruise and vice versa) of a tail-sitter UAV. The control strategy is based on…
Experimental flight tests are reported about quadrotors UAVs via a recent model-free control (MFC) strategy, which is easily implementable. We show that it is possible to achieve acrobatic rate control of the UAV, which is beyond the…
Turbojet-powered VTOL UAVs have garnered increased attention in heavy-load transport and emergency services, due to their superior power density and thrust-to-weight ratio compared to existing electronic propulsion systems. The main…
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…
Small unmanned aerial vehicles (UAVs) have become standard tools in reconnaissance and surveying for both civilian and defense applications. In the future, UAVs will likely play a pivotal role in autonomous package delivery, but current…
This paper participates in the development of a unified approach to the control of aerial vehicles with extended flight envelopes. More precisely, modeling for control purposes of a class of thrust-propelled aerial vehicles subjected to…
This paper is focused on the dynamics and control of arbitrary number of quadrotor UAVs transporting a rigid body payload. The rigid body payload is connected to quadrotors via flexible cables where each flexible cable is modeled as a…
This paper investigates tracking controls for an arbitrary number of cooperating quadrotor unmanned aerial vehicles with a suspended rigid body payload. Assuming that a rigid body is connected to multiple quadrotors by rigid massless links,…
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 work addresses the modelling and control aspects for quadcopter or drone unmanned aerial vehicles (UAVs). First, the mathematical model of the drone is derived by identifying significant parameters and the negligible ones are treated…
Intelligent aerial platforms such as Unmanned Aerial Vehicles (UAVs) are expected to revolutionize various fields, including transportation, traffic management, field monitoring, industrial production, and agricultural management. Among…
Unmanned aerial vehicles have been demonstrated successfully in a variety of tasks, including surveying and sampling tasks over large areas. These vehicles can take many forms. Quadrotors' agility and ability to hover makes them well suited…
This study presents a transformer-based approach for fault-tolerant control in fixed-wing Unmanned Aerial Vehicles (UAVs), designed to adapt in real time to dynamic changes caused by structural damage or actuator failures. Unlike…