相关论文: Automated Flight Test and System Identification fo…

In this paper, we present a real-time system identification method based on relay feedback testing with applications to multirotor unmanned aerial vehicles. The proposed identification method provides an alternative to the expensive lab…

Frequency-domain representations of multirate systems are essential for controller design and performance evaluation of multirate systems and sampled-data control. The aim of this paper is to develop a time-efficient closed-loop…

We introduce an early-phase bottleneck analysis and characterization model called the F-1 for designing computing systems that target autonomous Unmanned Aerial Vehicles (UAVs). The model provides insights by exploiting the fundamental…

This paper modifies an adaptive multicopter autopilot to mitigate instabilities caused by adaptive parameter drift and presents simulation and experimental results to validate the modified autopilot. The modified adaptive controller is…

We present a novel method for testing the safety of self-driving vehicles in simulation. We propose an alternative to sensor simulation, as sensor simulation is expensive and has large domain gaps. Instead, we directly simulate the outputs…

This paper presents a multi-step procedure to construct the dynamic motion model of an autonomous quadcopter, identify the model parameters, and design a model-based nonlinear trajectory tracking controller. The aim of the proposed method…

Automated event detection has emerged as one of the fundamental practices to monitor the behavior of technical systems by means of sensor data. In the automotive industry, these methods are in high demand for tracing events in time series…

This paper explains the integration process of an autonomous quadcopter platform and the design of Arduino based novel software architecture that enables the execution of advanced control laws on low-cost off-the-shelf products based…

This article describes a fully automated, credible autocoding chain for control systems. The framework generates code, along with guarantees of high level functional properties which can be independently verified. It relies on domain…

Time of flight cameras may emerge as the 3-D sensor of choice. Today, time of flight sensors use phase-based sampling, where the phase delay between emitted and received, high-frequency signals encodes distance. In this paper, we present a…

Modern autopilot systems are prone to sensor attacks that can jeopardize flight safety. To mitigate this risk, we proposed a modular solution: the secure safety filter, which extends the well-established control barrier function (CBF)-based…

Collision-free path planning is an essential requirement for autonomous exploration in unknown environments, especially when operating in confined spaces or near obstacles. This study presents an autonomous exploration technique using a…

We investigate the performance of a lightweight tracking controller, based on a flow version of the Newton-Raphson method, applied to a miniature blimp and a mid-size quadrotor. This tracking technique admits theoretical performance…

An approach to control tethered wings for airborne wind energy is proposed. A fixed length of the lines is considered, and the aim of the control system is to obtain figure-eight crosswind trajectories. The proposed technique is based on…

Models that contain intersample behavior are important for control design of systems with slow-rate outputs. The aim of this paper is to develop a system identification technique for fast-rate models of systems where only slow-rate output…

This paper presents a new framework to use images as the inputs for the controller to have autonomous flight, considering the noisy indoor environment and uncertainties. A new Proportional-Integral-Derivative-Accelerated (PIDA) control with…

Autopilot systems are typically composed of an "inner loop" providing stability and control, while an "outer loop" is responsible for mission-level objectives, e.g. way-point navigation. Autopilot systems for UAVs are predominately…

This paper aims to improve the action smoothness of a cascaded online learning flight control system. Although the cascaded structure is widely used in flight control design, its stability can be compromised by oscillatory control actions,…

A set of hardware in the loop simulation methods based on the UAV model is proposed to create fault data, which is used to judge the parts where faults happen. Actual flight experimental data is utilized to prove the reliability of Simulink…

At smaller airports without an instrument approach or advanced equipment, automatic landing of aircraft is a safety-critical task that requires the use of sensors present on the aircraft. In this paper, we study falsification of an…