相关论文: Unscented External Force and Torque Estimation for…

In this paper, we present an autonomous flight controller for a quadcopter with thrust vectoring capabilities. This UAV falls in the category of multirotors with tilt-motion enabled rotors. Since the vehicle considered is over-actuated in…

In trajectory planning and control design for unmanned air vehicles, highly simplified models are typically used to represent the vehicle dynamics and the operating environment. The goal of this work is to perform real-time, but realistic…

Accurate disturbance estimation is crucial for reliable robotic physical interaction. To estimate environmental interference in a low-cost and sensorless way (without force sensor), a variety of tightly-coupled visual inertial external…

The concerns to autonomous vehicles have been becoming more intriguing in coping with the more environmentally dynamics non-linear systems under some constraints and disturbances. These vehicles connect not only to the self-instruments yet…

This paper proposes a geometric adaptive controller for a quadrotor unmanned aerial vehicle with artificial neural networks. It is assumed that the dynamics of a quadrotor is disturbed by arbitrary, unstructured forces and moments caused by…

For the first time quaternions have been used for real-time frequency estimation, where the multi-dimensional nature of quaternions allows for the full characterization of three-phase power systems. This is achieved through the use of…

In order to further expand the flight envelope of quadrotors under actuator failures, we design a nonlinear sensor-based fault-tolerant controller to stabilize a quadrotor with failure of two opposing rotors in the high-speed flight…

We present decentralized collision avoidance algorithms for quadrotor swarms operating under uncertain state estimation. Our approach exploits the differential flatness property and feedforward linearization to approximate the quadrotor…

Many multirotor Unmanned Aerial Systems applications have a critical need for precise position control in environments with strong dynamic external disturbances such as wind gusts or ground and wall effects. Moreover, to maximize flight…

This paper presents an external wrench estimator that uses a hybrid dynamics model consisting of a first-principles model and a neural network. This framework addresses one of the limitations of the state-of-the-art model-based wrench…

This paper provides nonlinear tracking control systems for a quadrotor unmanned aerial vehicle (UAV) that are robust to bounded uncertainties. A mathematical model of a quadrotor UAV is defined on the special Euclidean group, and nonlinear…

This paper deals with the estimation of the performance and stability for a shrouded-fan unmanned rotorcraft whose mission profile also prescribes the flight in ground effect. The not so simple estimation of the aerodynamic coefficients and…

This paper presents QuadSoft, a novel fully actuated quadrotor equipped with continuous-curvature, tendon-driven soft robotic arms. The design combines a semi-rigid central frame with flexible arms, enabling controlled structural…

We present two quaternion-based sliding variables for controlling the orientation of a manipulator's end-effector. Both sliding variables are free of singularities and represent global exponentially convergent error dynamics that do not…

This paper describes the synthesis and evaluation of a novel state estimator for a Quadrotor Micro Aerial Vehicle. Dynamic equations which relate acceleration, attitude and the aero-dynamic propeller drag are encapsulated in an extended…

Simultaneously accurate and reliable tracking control for quadrotors in complex dynamic environments is challenging. As aerodynamics derived from drag forces and moment variations are chaotic and difficult to precisely identify, most…

This paper presents a geometric adaptive control scheme for a quadrotor unmanned aerial vehicle, where the effects of unknown, unstructured disturbances are mitigated by a multilayer neural network that is adjusted online. The stability of…

The attitude dynamics of aircraft and spacecraft exhibit significantly nonlinear behaviour. In spacecraft, torque is generated through reaction wheels and control moment gyros. In aircraft, torque is generated using lift on control…

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…

Electric Vertical Takeoff and Landing (eVTOL) vehicles will open new opportunities in aviation. This paper describes the design and wind tunnel analysis of an eVTOL uncrewed aircraft system (UAS) prototype with a traditional aircraft wing,…