相关论文: Geometric Adaptive Control for Aerial Transportati…

This paper studies the problem of fast and safe aerial payload transport by a single quadcopter in urban areas. The quadcopter payload system (QPS) is considered as a rigid body and modeled with a nonlinear dynamics. The urban area is…

Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…

We present a distributed control strategy for a team of quadrotors to autonomously achieve a desired 3D formation. Our approach is based on local relative position measurements and does not require global position information or…

Agile quadrotor flight in challenging environments has the potential to revolutionize shipping, transportation, and search and rescue applications. Nonlinear model predictive control (NMPC) has recently shown promising results for agile…

This work addresses the landing problem of an aerial vehicle, exemplified by a simple quadrotor, on a moving platform using image-based visual servo control. First, the mathematical model of the quadrotor aircraft is introduced, followed by…

This paper presents a new geometric adaptive control system with state inequality constraints for the attitude dynamics of a rigid body. The control system is designed such that the desired attitude is asymptotically stabilized, while the…

Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…

We present a new stability proof for cascaded geometric control used by aerial vehicles tracking time-varying position trajectories. Our approach uses sliding variables and a recently proposed quaternion-based sliding controller to…

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…

In this paper, we introduce a multi robot payload transport system to carry payloads through an environment of unknown and uneven inclinations while maintaining the desired orientation of the payload. For this task, we used custom built…

This paper presents a nonlinear integrated guidance and control (IGC) approach for flexible leader-follower formation flight of fixed-wing unmanned aerial vehicles (UAVs) while accounting for high-fidelity aerodynamics and thrust dynamics.…

The PID controller is an elegant and versatile controller for set point tracking in double integrator systems of which mechanical systems evolving on Euclidean space constitute a large class. But since mechanical systems are typically…

We consider the problem of attitude tracking for small-scale aerobatic helicopters. A small scale helicopter has two subsystems: the fuselage, modeled as a rigid body; and the rotor, modeled as a first order system. Due to the coupling…

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…

Grasping using an aerial robot can have many applications ranging from infrastructure inspection and maintenance to precise agriculture. However, aerial grasping is a challenging problem since the robot has to maintain an accurate position…

The ability to adapt to changing conditions is a key feature of a successful autonomous system. In this work, we use the Recursive Gaussian Processes (RGP) for identification of the quadrotor air drag model online, without the need of…

We consider transporting a heavy payload that is attached to multiple multirotors. The current state-of-the-art controllers either do not avoid inter-robot collision at all, leading to crashes when tasked with carrying payloads that are…

High performance trajectory tracking control of quadrotor vehicles is an important challenge in aerial robotics. Symmetry is a fundamental property of physical systems and offers the potential to provide a tool to design high-performance…

Legged robots have shown remarkable advantages in navigating uneven terrain. However, realizing effective locomotion and manipulation tasks on quadruped robots is still challenging. In addition, object and terrain parameters are generally…

We investigate the use of simple aerodynamic models for the feedback control of aerial vehicles with large flight envelopes. Thrust-propelled vehicles with a body shape symmetric with respect to the thrust axis are considered. Upon a…