Related papers: Fast control allocation algorithm for tilt-rotor V…
For the dynamic analysis of floating offshore wind turbines (FOWTs) in realistic operating environment, this paper develops a coupled aero-hydro-mooring-servo model applicable to turbulent wind and irregular sea states with high…
This paper proposes a reinforcement learning (RL) framework for controlling and stabilizing the Twin Rotor Aerodynamic System (TRAS) at specific pitch and azimuth angles and tracking a given trajectory. The complex dynamics and non-linear…
Autonomy is a key challenge for future space exploration endeavours. Deep Reinforcement Learning holds the promises for developing agents able to learn complex behaviours simply by interacting with their environment. This paper investigates…
It is challenging to model and control a tail-sitter unmanned aerial vehicle (UAV) because its blended wing body generates complicated nonlinear aerodynamic effects, such as wing lift, fuselage drag, and propeller-wing interactions. We…
In this paper, we consider the problem of multirotor flying robots physically interacting with the environment under wind influence. The result are the first algorithms for simultaneous online estimation of contact and aerodynamic wrenches…
We present a Real-Time Operator Takeover (RTOT) paradigm that enables operators to seamlessly take control of a live visuomotor diffusion policy, guiding the system back to desirable states or providing targeted corrective demonstrations.…
Rylls tilt-rotor is a UAV with eight inputs; the four magnitudes of the thrusts as well as four tilting angles of the thrusts can be specified in need, e.g., based on a control rule. Despite of the success in simulation, conventional…
Tensors of order three or higher have found applications in diverse fields, including image and signal processing, data mining, biomedical engineering and link analysis, to name a few. In many applications that involve for example time…
Current control design for fast vision-based flight tends to rely on high-rate, high-dimensional and perfect state estimation. This is challenging in real-world environments due to imperfect sensing and state estimation drift and noise. In…
We propose a new position control strategy for VTOL-UAVs using IMU and GPS measurements. Since there is no sensor that measures the attitude, our approach does not rely on the knowledge (or reconstruction) of the system orientation as…
From a maneuverability perspective, the main advantage of tilting multirotor UAVs lies in the dynamic variability of the feasible executable wrench, which represents a key asset for physical interaction tasks. Accordingly, cant-angle…
We perform direct numerical simulations (DNS) of actively controlled laminar separated wakes around low-aspect-ratio wings with two primary goals: (i) reducing the size of the separation bubble and (ii) attenuating the wing tip vortex.…
This paper aims to develop a Fault Tolerant Control (FTC) architecture, for the case of a damaged actuator for a multirotor UAV that can be applied across multirotor platforms based on their Attainable Virtual Control Set (AVCS). The…
A control design approach to achieve fully autonomous take-off and flight maneuvers with a tethered aircraft is presented and demonstrated in real-world flight tests with a small-scale prototype. A ground station equipped with a controlled…
This letter considers model predictive control of a tandem-rotor helicopter. The error is formulated using the matrix Lie group $SE_2(3)$. A reference trajectory to a target is calculated using a quartic guidance law, leveraging the…
We present a low-order modeling technique for actuated flows based on the regularization of an inverse problem. The inverse problem aims at minimizing the error between the model predictions and some reference simulations. The parameters to…
This paper describes an angular adaptivity algorithm for Boltzmann transport applications which for the first time shows evidence of $\mathcal{O}(n)$ scaling in both runtime and memory usage, where $n$ is the number of adapted angles. This…
To properly simulate and implement a quadcopter flight control for intended load and flight conditions, the quadcopter model must have parameters on various relationships including propeller thrust-torque, thrust-PWM, and thrust--angular…
This paper proposes a novel method for prevention of the increasing oscillation of an aircraft wing under the flexural torsion flutter. The paper introduces the novel multi-agent method for control of an aircraft wing, assuming that the…
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…