Related papers: Adaptive Twisting Sliding Control for Integrated A…

This paper presents a novel design for finite-time position control of quadrotor Unmanned Aerial Vehicles (UAVs). A robust, finite-time, nonlinear feedback controller is introduced to reject bounded disturbances in tracking tasks. The…

This paper applies the UAV to the inspection of water diversion pipelines in hydropower stations. The diversion pipeline is an enclosed space, so the airflow disturbance caused by the rotation of the UAV blades and the strong air convection…

This paper presents a nonlinear integrated guidance and control (IGC) approach for flexible leader-follower formation flight of fixed-wing unmanned aerial vehicles (UAVs) while accounting for high-fidelity aerodynamics and thrust dynamics.…

The focus of this paper is an integrated, fault-tolerant vehicle supervisory control algorithm for the overall stability of ground vehicles. Vehicle control systems contain many sensors and actuators that can communicate with each other…

This paper studies the collision avoidance problem for autonomous multiple fixedwing UAVs in the complex integrated airspace. By studying and combining the online path planning method, the distributed model predictive control algorithm, and…

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…

Unmanned aerial vehicles (UAVs) suffer from sensor drifts in GPS denied environments, which can lead to potentially dangerous situations. To avoid intolerable sensor drifts in the presence of GPS spoofing attacks, we propose a safety…

This paper introduces a novel zero-force control method for upper-limb exoskeleton robots, which are used in a variety of applications including rehabilitation, assistance, and human physical capability enhancement. The proposed control…

This paper presents a nonsingular fast terminal sliding mode-based adaptive smooth control methodology for a distributed space telescope demonstration mission. The distributed space telescope has a flexible focal length that corresponds to…

Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…

To reduce the chattering and overestimation phenomena existing in classical adaptive sliding mode control, this paper presents a new class K_infinity function-based adaptive sliding mode control scheme. Two controllers are proposed in terms…

Unmanned aerial vehicles (UAVs) are increasingly deployed in mission-critical applications such as target tracking, where they must simultaneously sense dynamic environments, ensure reliable communication, and achieve precise control. A key…

This paper deals with a nonlinear adaptive autopilot design for agile missile systems. In advance of the autopilot design, an investigation of the agile turn maneuver, based on the trajectory optimization, is performed to determine state…

The coupling disturbance between the manipulator and the unmanned aerial vehicle (UAV) deteriorates the control performance of system. To get high performance of the aerial manipulator, a robust fractional order fast terminal sliding mode…

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…

This paper designs a servo control system based on sliding mode control for the shape control of elastic objects. In order to solve the effect of non-smooth and asymmetric control saturation, a Gaussian-based continuous differentiable…

For a class of uncertain systems, a non-overshooting sliding mode control is presented to make them globally exponentially stable and without overshoot. Even when the unknown stochastic disturbance exists, and the time-variant reference…

This paper presents a new Lyapunov-based nonlinear model predictive controller (LNMPC) for the attitude control problem of unmanned aerial vehicles (UAVs), which is essential for their functioning operation. The controller is designed based…

A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…

This paper introduces for the first time the design, modelling, and control of a novel morphing multi-rotor Unmanned Aerial Vehicle (UAV) that we call the OmniMorph. The morphing ability allows the selection of the configuration that…