Related papers: NDOB-Based Control of a UAV with Delta-Arm Conside…
As the number of Unmanned Aerial Vehicles (UAVs) operating in low-altitude airspace continues to increase, non-cooperative targets pose growing challenges to low-altitude operations. To address this issue, this paper proposes a…
This paper proposes an adaptive tracking strategy with mass-inertia estimation for aerial transportation problems of multi-rotor UAVs. The dynamic model of multi-rotor UAVs with disturbances is firstly developed with a linearly…
This paper focuses on dynamic control allocation for a hexarotor UAV platform, considering a trajectory tracking task as as case study. It is assumed that the platform is dual-tilting, meaning that it is able to tilt each propeller…
In this paper, we present a novel passive single Degree-of-Freedom (DoF) manipulator design and its integration on an autonomous drone to capture a moving target. The end-effector is designed to be passive, to disengage the moving target…
In this paper, near optimal tracking of a class of nonlinear systems is addressed. Adaptive (approximate) dynamic programming approach is used to calculate the optimal control in closed form. ADP (Adaptive (approximate) dynamic programming)…
Cylindrical manipulators are extensively used in industrial automation, especially in emerging technologies like 3D printing, which represents a significant future trend. However, controlling the trajectory of nonlinear models with system…
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…
Grabbing a manoeuvring target using drones is a challenging problem. This paper presents the design, development, and prototyping of a novel aerial manipulator for target interception. It is a single Degree of Freedom (DoF) manipulator with…
Recently, the utilization of aerial manipulators for performing pushing tasks in non-destructive testing (NDT) applications has seen significant growth. Such operations entail physical interactions between the aerial robotic system and the…
This paper presents an integration of nonlinear disturbance observer within proxy-based sliding mode control (IDO-PSMC) approach for Pneumatic Muscle Actuators (PMAs). Due to the nonlinearities, uncertainties, hysteresis, and time-varying…
Contrary to the stunning feats observed in birds of prey, aerial manipulation and grasping with flying robots still lack versatility and agility. Conventional approaches using rigid manipulators require precise positioning and are subject…
This paper proposes NeuroDOB, a deep neural network based observer controller for vehicle lateral dynamics, which replaces the conventional disturbance observer (DOB) with a deep neural network (DNN) to enhance personalized lateral control.…
Fixed-wing unmanned aerial vehicles (UAVs) offer significant performance advantages over rotary-wing UAVs in terms of speed, endurance, and efficiency. However, these vehicles have traditionally been severely limited with regards to…
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.…
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…
Operating drones in urban environments often means they need to land on rooftops, which can have different geometries and surface irregularities. Accurately detecting roof inclination using conventional sensing methods, such as vision-based…
This paper introduces an innovative observer-based modular control strategy in a class of n_a-degree-of-freedom (DoF) fully electrified heavy-duty robotic manipulators (HDRMs) to (1) guarantee robustness in the presence of uncertainties and…
Controlling a distributed autonomous unmanned aerial vehicle (UAV) formation is usually considered in the context of recovering the connectivity graph should a single UAV agent be lost. At the same time, little focus is made on how such…
In this paper, we consider the tracking control problem for robot manipulators which are affected by constant bounded disturbances. Three control schemes are applied for the problem, which composed of integral action and tracking…
This paper is concerned with fault/disturbance compensation control for fully actuated systems. In particular, we explore observer-based control, incorporating an active compensation mechanism. First, we propose a novel observer with…