Related papers: Active Sidestick Control Integration for Enhanced …
This paper considers the prescribed performance control (PPC) of spacecraft attitude tracking under multiple physical constraints, focusing on the robust issues. A novel Barrier Lyapunov function is proposed to realize the…
The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…
Integrated sensing and communication (ISAC) is a core technology for 6G, and its application to closed-loop sensing, communication, and control (SCC) enables various services. Existing SCC solutions often treat sensing and control…
Sliding mode control (SMC) is a robust and computationally efficient model-based controller design technique for highly nonlinear systems, in the presence of model and external uncertainties. However, the implementation of the conventional…
This paper focuses on the attitude pointing control problem under pointing-forbidden constraints and performance constraints. The spacecraft is expected to align its sensor's boresight to a desired direction, while the terminal control…
Incremental Nonlinear Dynamic Inversion (INDI) control has attracted increasing research attention for it retains the high-performance of NDI and has enhanced robustness. However, when actual elements of the flight control system and…
Unmanned Aerial Vehicles (UAV)-enabled communication is a promising solution for secure air-to-ground (A2G) networks due to the additional secure degrees of freedom afforded by mobility. However, the jittering characteristics caused by the…
This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…
This study investigates the combination of guidance and control strategies for rigid spacecraft attitude reorientation, while dealing with forbidden pointing constraints, actuator limitations, and system uncertainties. These constraints…
Drivers are becoming increasingly reliant on advanced driver assistance systems (ADAS) as autonomous driving technology becomes more popular and developed with advanced safety features to enhance road safety. However, the increasing…
Autopilot systems are typically composed of an "inner loop" providing stability and control, while an "outer loop" is responsible for mission-level objectives, e.g. way-point navigation. Autopilot systems for UAVs are predominately…
This letter attempts to design a surveillance scheme by adopting an active reconfigurable intelligent surface (RIS). Different from the conventional passive RIS, the active RIS could not only adjust the phase shift but also amplify the…
In this paper, a guidance and tracking control strategy for fixed-wing Unmanned Aerial Vehicle (UAV) autopilots is presented. The proposed control exploits recent results on sample-based stochastic Model Predictive Control, which allow…
The significance of the automatic ground collision avoidance system (Auto-GCAS) has been proven by considering the fatal crashes that have occurred over decades. Even though extensive efforts have been put forth to address the ground…
This paper proposes a novel control law for accurate tracking of agile trajectories using a tailsitter flying wing unmanned aerial vehicle (UAV) that transitions between vertical take-off and landing (VTOL) and forward flight. The global…
This paper presents a passive compliance control for aerial manipulators to achieve stable environmental interactions. The main challenge is the absence of actuation along body-planar directions of the aerial vehicle which might be required…
LiDAR-based 3D perception and localization on unmanned aerial vehicles (UAVs) are fundamentally limited by the narrow field of view (FoV) of compact LiDAR sensors and the payload constraints that preclude multi-sensor configurations.…
This paper addresses design, modeling and dynamic-compensation PID (dc-PID) control of a novel type of fully-actuated aerial manipulation (AM) system. Firstly, design of novel mechanical structure of the AM is presented. Secondly,…
Many unmanned aerial vehicles (UAVs) can remain aerodynamically flyable after sustaining structural or control surface damage, yet insufficient robustness in conventional autopilots often leads to mission failure. This paper proposes a…
When humans physically interact with robots, we need the robots to be both safe and performant. Series elastic actuators (SEAs) fundamentally advance safety by introducing compliant actuation. On the one hand, adding a spring mitigates the…