Related papers: Robust Control of An Aerial Manipulator Based on A…
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…
Described is a device acting on an acoustically levitated object by manipulating the pressure and flow of a thin layer of air such that its rotation can be precisely controlled without mechanical contact. Virtual work analysis assists in…
This work addresses the landing problem of an aerial vehicle, exemplified by a simple quadrotor, on a moving platform using image-based visual servo control. First, the mathematical model of the quadrotor aircraft is introduced, followed by…
Unmanned Aerial Vehicles (UAVs) are now becoming increasingly accessible to amateur and com-mercial users alike. Several types of airspace structures are proposed in recent research, which include several structured free flight concepts. In…
This survey paper focuses on quadrotor- and multirotor- based cooperative aerial manipulation. Emphasis is first given on comparing and evaluating prototype systems that have been implemented and tested in real-time in diverse application…
Unmanned Aerial Vehicle (UAV) systems are being increasingly used in a broad range of scenarios and applications. However, their deployment in urban areas poses important technical challenges. One of the most prominent concerns is the…
This dissertation presents nonlinear tracking control systems for quadrotor unmanned aerial vehicles (UAV) under the influence of uncertainties. Assuming that there exist unstructured disturbances in the translational dynamics and the…
This paper presents a geometric adaptive control scheme for a quadrotor unmanned aerial vehicle, where the effects of unknown, unstructured disturbances are mitigated by a multilayer neural network that is adjusted online. The stability of…
Accurate dynamics models are critical for aerial manipulators operating under complex tasks such as payload transport. However, modeling these systems remains fundamentally challenging due to strong quadrotor-manipulator coupling, delayed…
With UAVs promising capabilities to increase operation flexibility and reduce mission cost, we are exploiting the automated carrier-landing performance advancement that can be achieved by fixed-wing UAVs. To demonstrate such potentials, in…
The conceptual design and flight controller of a novel kind of quadcopter are presented. This design is capable of morphing the shape of the UAV during flight to achieve position and attitude control. We consider a dynamic center of gravity…
This paper considers the robust control of a catenary robot composed of two quadrotors connected by an inextensible cable. The system is modeled on \(SE(3)\), with the cable treated as a geometric subsystem induced by the UAV configuration…
There is an increased interest in the use of Unmanned Aerial Vehicles (UAVs) for agriculture, military, disaster management and aerial photography around the world. UAVs are scalable, flexible and are useful in various environments where…
Safe and accurate control of unmanned aerial vehicles in the presence of winds is a challenging control problem due to the hard-to-model and highly stochastic nature of the disturbance forces acting upon the vehicle. To meet performance…
This paper investigates the problem of the dynamic balance control of multi-arm free-floating space robot during capturing an active object in close proximity. The position and orientation of space base will be affected during the operation…
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…
As aerial robots gain traction in industrial applications, there is growing interest in enhancing their physical interaction capabilities. Pushing tasks performed by aerial manipulators have been successfully demonstrated in contact-based…
This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to many existing control strategies, which do not consider…
Unmanned Aerial Vehicles grow more popular by the day and applications for them are crossing boundaries of science and industry, with everything from aerial photography to package delivery to disaster management benefiting from the…
In this work, we present an approach to supervisory reinforcement learning control for unmanned aerial vehicles (UAVs). UAVs are dynamic systems where control decisions in response to disturbances in the environment have to be made in the…