Related papers: Payload trajectory tracking control for aerial tra…
Low-cost autonomous Micro Aerial Vehicles (MAVs) have the potential to help humans by simplifying and speeding up complex tasks that require their interaction with the environment, such as construction, package delivery, and search and…
This paper proposes a model predictive trajectory tracking approach for quadrotors subject to input constraints. Our proposed approach relies on a hierarchical control strategy with an outer-loop feedback generating the required thrust and…
In this paper, an adaptive super-twisting controller is designed for an agile maneuvering quadrotor unmanned aerial vehicle to achieve accurate trajectory tracking in the presence of external disturbances. A cascaded control architecture is…
In this work, we present a novel control approach based on partial feedback linearization (PFL) for the stabilization of a suspended aerial platform with an attached load. Such systems are envisioned for various applications in construction…
Approximate dynamic programming has been investigated and used as a method to approximately solve optimal regulation problems. However, the extension of this technique to optimal tracking problems for continuous time nonlinear systems has…
Existing FPV object tracking methods heavily rely on handcrafted modular pipelines, which incur high onboard computation and cumulative errors. While learning-based approaches have mitigated computational delays, most still generate only…
Multi-Agent Aerial Load Transport Systems (MAATS) offer greater payload capacity and fault tolerance than single-drone solutions. However, they have an underdetermined tension allocation problem that leads to uneven energy distribution,…
This article studies the dynamics and control of a novel underactuated system, wherein a plate suspended by cables and with a freely moving mass on top, whose other ends are attached to three quadrotors, is sought to be horizontally…
This paper develops an adaptive tracking controller for a class of nonlinear systems with parametric uncertainty subject to state constraints. The system is characterized by a strict-feedback structure with unknown parameters entering both…
The optimal tracking problem is addressed in the robotics literature by using a variety of robust and adaptive control approaches. However, these schemes are associated with implementation limitations such as applicability in uncertain…
In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling…
For unmanned aerial vehicle (UAV) trajectory design, the total propulsion energy consumption and initial-final location constraints are practical factors to consider. However, unlike traditional offline designs, these two constraints are…
The paper presents a new, robust control algorithm for position trajectory tracking in a 3D space, dedicated to underactuated airships. In order to take into account real characteristics of such vehicles, and to reflect practically…
Quadrotors equipped with cable-suspended loads represent a versatile, low-cost, and energy efficient solution for aerial transportation, construction, and manipulation tasks. However, their real-world deployment is hindered by several…
A new disturbance observer based control scheme is developed for a quadrotor under the concurrent disturbances from a lightweight elastic tether cable and a lumped vertical disturbance. This elastic tether is unusual as it creates a…
This paper presents an adaptive modified Robust Inverse of Signum Error (AM-RISE) control method, which achieves reliable trajectory tracking control for a quadrotor unmanned aerial vehicle. The proposed method systematically accounts for…
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…
All practical systems often pose a problem of finite control capability, which can notably degrade the performance if not properly addressed. Since actuator input bounds are typically known, integrating actuator saturation considerations…
Fast and precise robot motion is needed in certain applications such as electronic manufacturing, additive manufacturing and assembly. Most industrial robot motion controllers allow externally commanded motion profile, but the trajectory…
The interaction of robots with bendable objects in midair presents significant challenges in control, often resulting in performance degradation and potential crashes, especially for aerial robots due to their limited actuation capabilities…