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Stability and satisfactory performance are critical control requirements for Unmanned Aerial Vehicle (UAV) applications. While conventional control systems for UAVs aim to ensure flight stability and safe operation while accomplishing…
Interactional aerodynamics of a quadcopter in hover is numerically investigated in this study. The main objective is to understand major flow structures associated with unsteady airloads on multirotor aircraft. The overset mesh approach is…
This study presents the design and control of a Plasma-propelled Ultra-silence Blimp (PUB), a novel aerial robot employing plasma vector propulsion for ultra-quiet flight without mechanical propellers. The system utilizes a helium-lift…
Time delays due to signal latency, computational complexity, and sensor-denied environments, pose a critical challenge in both engineered and biological control systems. In this work, we investigate biologically inspired strategies to…
This article presents a novel stream function-based navigational control system for obstacle avoidance, where obstacles are represented as two-dimensional (2D) rigid surfaces in inviscid, incompressible flows. The approach leverages the…
This paper is about fast slosh free fluid transportation. Existing approaches are either computationally heavy or only suitable for specific robots and container shapes. We model the end effector as a point mass suspended by a spherical…
Omnidirectional aerial vehicles (OMAVs) have opened up a wide range of possibilities for inspection, navigation, and manipulation applications using drones. In this paper, we introduce MorphEUS, a morphable co-axial quadrotor that can…
In recent years, multimodal locomotion capabilities have enabled robots to maneuver in both terrestrial and aerial domains. However, most of these robots are designed only for locomotion, and few possess the manipulation capabilities…
Morphing aerial robots have the potential to transform autonomous flight, enabling navigation through cluttered environments, perching, and seamless transitions between aerial and terrestrial locomotion. Yet mid-flight reconfiguration…
The methods of mathematical control theory are widely used in the modern physics, but still they are less popular in quantum science. We will discuss the aspects of control theory, which are the most useful in applications to the real…
The control of a quadrotor is typically split into two subsequent problems: finding desired accelerations to control its position, and controlling its attitude and the total thrust to track these accelerations and to track a yaw angle…
A novel motion control system for Compliant Framed wheeled Modular Mobile Robots (CFMMR) is studied in this paper. This type of wheeled mobile robot uses rigid axles coupled by compliant frame modules to provide both full suspension and…
In this paper, we discuss a novel continuum robot design that enables the online tuning of the magnetic response at its tip. The proposed method allows for the change of both effective magnetic direction and intensity, introducing steering…
We introduce a control-tutored reinforcement learning (CTRL) algorithm. The idea is to enhance tabular learning algorithms by means of a control strategy with limited knowledge of the system model. By tutoring the learning process, the…
Soft robots have drawn great interest due to their ability to take on a rich range of shapes and motions, compared to traditional rigid robots. However, the motions, and underlying statics and dynamics, pose significant challenges to…
This work newly establishes the feasibility and practical value of a sum of squares (SOS)-based stability verification procedure for applied control problems utilizing neural-network-based controllers (NNCs). It successfully verifies…
Developing practical quantum technologies will require the exquisite manipulation of fragile systems in a robust and repeatable way. As quantum technologies move towards real world applications, from biological sensing to communication in…
In trajectory planning and control design for unmanned air vehicles, highly simplified models are typically used to represent the vehicle dynamics and the operating environment. The goal of this work is to perform real-time, but realistic…
Soft robots could bring robotic systems to new horizons, by enabling safe human-machine interaction. For precise control, these soft structures require high level position feedback that is not easily achieved through conventional…
Control of compliant mechanical systems is increasingly being researched for several applications including flexible link robots and ultra-precision positioning systems. The control problem in these systems is challenging, especially with…