Related papers: Control Algorithms for Quadcopter Motion in Dynami…
This paper develops an adaptive autopilot for quadcopters with unknown dynamics. To do this, the PX4 autopilot architecture is modified so that the feedback and feedforward controllers are replaced by adaptive control laws based on…
This paper presents a novel adaptive fast smooth second-order sliding mode control for the attitude tracking of the three degree-of-freedom (3-DOF) helicopter system with lumped disturbances. Combining with a non-singular integral sliding…
Aerial manipulator, which is composed of an UAV (Unmanned Aerial Vehicle) and a multi-link manipulator and can perform aerial manipulation, has shown great potential of applications. However, dynamic coupling between the UAV and the…
A simple algorithm is described to target any desired operation point for simple one-dimensional and two-dimensional dynamical systems. What makes the algorithm unique is the fact that it targets any desired point, not merely a…
We present a novel, high-performance attitude control law for multicopters, with a view to recovery from large disturbances. The controller is compared to three well-established alternatives from the literature. All controllers considered…
One of the most challenging issues in adaptive control of robot manipulators with kinematic uncertainties is requirement of the inverse of Jacobian matrix in regressor form. This requirement is inevitable in the case of the control of…
Two-wheeled inverted pendulum robots are designed for self-balancing and they have remarkable advantages. In this paper, a new configuration and consequently dynamic model of one specific robot is presented and its dynamic behavior is…
This work focuses on pose-following, a variant of path-following in which the goal is to steer the system's position and attitude along a path with a moving frame attached to it. Full body motion control, while accounting for the additional…
The paper takes the first step towards the de- velopment of a control framework for underactuated flying humanoid robots. These robots may thus have the capacities of flight, contact locomotion, and manipulation, and benefit from…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
MAVs have great potential to assist humans in complex tasks, with applications ranging from logistics to emergency response. Their agility makes them ideal for operations in complex and dynamic environments. However, achieving precise…
This paper extends our previous study on an explicit saturated control for a quadcopter, which ensures both constraint satisfaction and stability thanks to the linear representation of the system in the flat output space. The novelty here…
Overactuated Tilt Rotor Unmanned Aerial Vehicles are renowned for exceptional wind resistance and a broad operational range, which poses complex control challenges due to non-affine dynamics. Traditional solutions employ multi-state…
A swarm of quadcopters can perform cooperative tasks, such as monitoring of a large area, more efficiently than a single one. However, to be able to successfully work together, the quadcopters must be aware of the position of the other…
This study evaluates the application of a discrete action space reinforcement learning method (Q-learning) to the continuous control problem of robot inverted pendulum balancing. To speed up the learning process and to overcome technical…
We address the problem of assigning a team of drones to autonomously capture a set desired shots of a dynamic target in the presence of obstacles. We present a two-stage planning pipeline that generates offline an assignment of drone to…
Take-off and landing are the most important maneuvers for an aircraft's flight. Deployment for small fixed-wing aircraft is usually made by hand but when payload increases, take-off, and landing maneuvers are then performed on a runway…
Motion planning and control problems are embedded and essential in almost all robotics applications. These problems are often formulated as stochastic optimal control problems and solved using dynamic programming algorithms. Unfortunately,…
Dynamic task allocation is an essential requirement for multi-robot systems operating in unknown dynamic environments. It allows robots to change their behavior in response to environmental changes or actions of other robots in order to…
The previously introduced aerial manipulation systems suffer from either limited end-effector DOF or small payload capacity. In this dissertation, a quadrotor with a 2-DOF manipulator is investigated that has a unique topology to enable the…