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Quadcopters are increasingly used for applications ranging from hobby to industrial products and services. This paper serves as a tutorial on the design, simulation, implementation, and experimental outdoor testing of digital quadcopter…
Optimal control is a successful approach to generate motions for complex robots, in particular for legged locomotion. However, these techniques are often too slow to run in real time for model predictive control or one needs to drastically…
Biological flapping wing fliers operate efficiently and robustly in a wide range of flight conditions and are a great source of inspiration to engineers. The unsteady aerodynamics of flapping-wings are dominated by large-scale vortical…
This study evaluates the application of a discrete action space reinforcement learning method (Q-learning) to the continuous control problem of robot inverted pendulum balancing. To speed up the learning process and to overcome technical…
This paper addresses the problem of thrust estimation and control for the rotors of small-sized multirotors Uncrewed Aerial Vehicles (UAVs). Accurate control of the thrust generated by each rotor during flight is one of the main challenges…
We consider dynamic stair climbing with the HRP-4 humanoid robot as part of an Airbus manufacturing use-case demonstrator. We share experimental knowledge gathered so as to achieve this task, which HRP-4 had never been challenged to before.…
In a wind energy conversion system (WECS), changing the pitch angle of the wind turbine blades is a typical practice to regulate the electrical power generation in the full-load regime. Due to the turbulent nature of the wind and the large…
Jumping poses a significant challenge for quadruped robots, despite being crucial for many operational scenarios. While optimisation methods exist for controlling such motions, they are often time-consuming and demand extensive knowledge of…
The vertical trajectory optimization for the en route descent phase is studied in the presence of both along track and cross winds, which are both modeled as functions of altitude. The flight range covers some portion of a cruise segment…
In this paper, we investigate the operation of an aerial manipulator system, namely an Unmanned Aerial Vehicle (UAV) equipped with a controllable arm with two degrees of freedom to carry out actuation tasks on the fly. Our solution is based…
This paper develops a guidance control law based on a parametric Guiding Vector Field (GVF) and integrates it with a state-of-the-art acceleration and attitude control architecture for tailsitters. The resulting framework enables a direct…
Fixed-wing vertical take-off and landing (VTOL) aircraft pose a unique control challenge that stems from complex aerodynamic interactions between wings and rotors. Thus, accurate estimation of external forces is indispensable for achieving…
Fast and safe manipulation of flexible objects with a robot manipulator necessitates measures to cope with vibrations. Existing approaches either increase the task execution time or require complex models and/or additional instrumentation…
This paper presents and experimentally demonstrates a novel framework for variable assistance on lower body exoskeletons, based upon safety-critical control methods. Existing work has shown that providing some freedom of movement around a…
The paper presents a technique using reinforcement learning (RL) to adapt the control gains of a quadcopter controller. Specifically, we employed Proximal Policy Optimization (PPO) to train a policy which adapts the gains of a cascaded…
In this paper, we use a nonlinear hierarchical model predictive control (MPC) to stabilize the Segway robot. We also use hardware in the loop (HIL) simulation in order to model the delay response of the wheels' motor and verify the control…
The control of a tail-sitter aircraft is a challenging task, especially during transition maneuver where the lift and drag forces are highly nonlinear. In this work, we implement a Neural Network (NN) capable of estimate such…
In this work, we have performed numerical simulations of the flapping motion of a rectangular wing in a three-dimensional flow field using the discrete vortex method (DVM). The DVM method is computationally more convenient because it does…
High-precision manipulation has always been a developmental goal for aerial manipulators. This paper investigates the kinematic coordinate control issue in aerial manipulators. We propose a predictive kinematic coordinate control method,…
This paper presents the control and stabilization of the rotary inverted pendulum based on a general controller scheme. The proposed scheme has its foundation in classical control theory, and the importance of an integrator in disturbance…