Related papers: A Perception-feedback position-tracking control fo…
Various control methods have been studied to control the position and attitude of quadrotors. There are some differences in the mathematical equations between the two types of quadrotor configurations that lead to different control…
In this paper, a fixed-time disturbance observerbased model predictive control algorithm is proposed for trajectory tracking of quadrotor in the presence of disturbances. First, a novel multivariable fixed-time disturbance observer is…
We propose a command-filter backstepping controller that integrates a disturbance observer and a high-gain observer (HGO) to handle unknown internal and external disturbances acting on a quadrotor. To build the controller, we first define…
Fault-tolerant control is crucial for safety-critical systems, such as quadrotors. State-of-art flight controllers can stabilize and control a quadrotor even when subjected to the complete loss of a rotor. However, these methods rely on…
Traditionally, controllers and state estimators in robotic systems are designed independently. Controllers are often designed assuming perfect state estimation. However, state estimation methods such as Visual Inertial Odometry (VIO) drift…
This paper presents the development of a sliding mode controller using the backstepping approach. The controller is employed to synthesize tracking errors and Lyapunov functions. A novel state-space representation is formulated by…
This paper presents a simple method to boost the robustness of quadrotors in trajectory tracking. The presented method features a high-gain disturbance observer (HGDO) that provides disturbance estimates in real-time. The estimates are then…
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…
With quadrotor use seeing extensive growth in recent years, the autonomous control of these Unmanned Aerial Vehicles (UAVs) is an increasing relevant and intersting field. In this paper a linear state-space approach at designing a stable…
This paper investigates the application of a Model Predictive Controller (MPC) for the cruise control system of a quadrotor, focusing on hovering point stabilization and reference tracking. Initially, a full-state-feedback MPC is designed…
The rigid-body attitude tracking using vector and biased gyro measurements with unknown inertia matrix is studied in this note. First, a gyro-bias observer with global exponential stability is designed. Then, an attitude tracking controller…
The paper solves the problem of tracking control of a quadrotor with unmeasurable pitch and roll angles based on the geometric approach with the use of the enhanced extended observer and the internal model. The proposed approach makes it…
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 work addresses the practical problem of distributed formation tracking control of a group of quadrotor vehicles in a relaxed sensing graph topology with a very limited sensor set, where only one leader vehicle can access the global…
We construct a trajectory tracking controller for a quadrotor system by finding a coordinate change which transforms the quadrotor's vector field into that of a thrust propelled system. In a thrust propelled system, the goal is to stabilize…
This work presents the design and the corresponding stability analysis of a model based, joint position tracking error constrained, adaptive output feedback controller for robot manipulators. Specifically, provided that the initial joint…
In this paper an adaptive sliding mode control approach for a quadrotor stabilization and trajectory tracking is presented. The closed loop control consists of three parts; the first part is quadrotor altitude and attitude stabilization,…
In this paper, we propose a new approach to the attitude control of quadrotors, by which angular velocity measurements or a model-based observer reconstructing the angular velocity are not needed. The proposed approach is based on recent…
The robust tracking and model following problem of linear discrete-time systems is investigated in this paper. An approach to design robust tracking controllers is proposed. The system is controlled to track dynamic inputs generated from a…
Learning-based methods are powerful in handling complex scenarios. However, it is still challenging to use learning-based methods under uncertain environments while stability, safety, and real-time performance of the system are desired to…