相关论文: Control of VTOL Vehicles with Thrust-direction Til…

Tiltrotors are an aircraft concept with the ability to rotate their rotors freely, achieving vertical take-off and fast forward flight. The combination of helicopter and fixed-wing flight into one aircraft provides versatility in mission…

This review explores the theoretical foundations and experimental dynamics of modern tiltrotor aircraft. Emphasizing feedback linearization, the study delves into the distinctive constraints and angular velocity ranges shaping tiltrotor…

This paper introduces for the first time the design, modelling, and control of a novel morphing multi-rotor Unmanned Aerial Vehicle (UAV) that we call the OmniMorph. The morphing ability allows the selection of the configuration that…

This paper addresses the problem of designing a trajectory tracking control law for a quadrotor UAV, subsequent to complete failure of a single rotor. The control design problem considers the reduced state space which excludes the angular…

This paper addresses the problem of tracking control for robotic vehicles equipped with pivoted unidirectional actuators. Starting from a baseline robust controller that assumes unconstrained inputs, we redesign the control law to be…

This paper presents a trajectory-tracking controller for multi-rotor unmanned aerial vehicles (UAVs) in scenarios where only the desired position and heading are known without the higher-order derivatives. The proposed solution modifies the…

Offering vertical take-off and landing (VTOL) capabilities and the ability to travel great distances are crucial for Urban Air Mobility (UAM) vehicles. These capabilities make hybrid VTOLs the clear front-runners among UAM platforms. On the…

This paper deals with the dynamics and controls of a quadrotor unmanned aerial vehicle that is connected to a fixed point on the ground via a tether. Tethered quadrotors have been envisaged for long-term aerial surveillance with high-speed…

This paper aims to develop a Fault Tolerant Control (FTC) architecture, for the case of a damaged actuator for a multirotor UAV that can be applied across multirotor platforms based on their Attainable Virtual Control Set (AVCS). The…

This paper presents, for the first time, the soft planar vertical take-off and landing (Soft-PVTOL) aircraft. This concept captures the soft aerial vehicle's fundamental dynamics with a minimum number of states and inputs but retains the…

The tailsitter vertical takeoff and landing (VTOL) UAV is widely used due to its lower dead weight, which eliminates the actuators and mechanisms for tilting. However, the tailsitter UAV is susceptible to wind disturbances in multi-rotor…

We consider a motorized aircraft tethered to a central anchorage point in a configuration similar to a control line model airplane. For this system, we address the problem of automatic take-off and landing (ATOL) with a circular path, whose…

This work presents a geometric backstepping controller for a variable-tilt omnidirectional multirotor that explicitly accounts for both servo and rotor dynamics. Considering actuator dynamics is essential for more effective and reliable…

This paper presents a novel model of large-size tilt-rotor aircraft, which can operate as a helicopter as well as being capable of transition to fixed-wing flight. Aerodynamics of the dynamic large-size tilt-rotors based on blade element…

Recently, needs for unmanned aerial vehicles (UAVs) that are attachable to the wall have been highlighted. As one of the ways to address the need, researches on various tilting multirotors that can increase maneuverability has been…

This paper presents a solution for the state estimation and control problems for a class of unconventional vertical takeoff and landing (VTOL) UAVs operating in forward-flight conditions. A tightly-coupled state estimation approach is used…

In this paper, we present a novel developmental reinforcement learning-based controller for a quadcopter with thrust vectoring capabilities. This multirotor UAV design has tilt-enabled rotors. It utilizes the rotor force magnitude and…

This paper presents a novel design for finite-time position control of quadrotor Unmanned Aerial Vehicles (UAVs). A robust, finite-time, nonlinear feedback controller is introduced to reject bounded disturbances in tracking tasks. The…

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…

Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the…