相关论文: Multicopter attitude control for recovery from lar…

This paper focuses on the spacecraft attitude control problem with intermittent actuator activation, taking into account the attitude rotation rate limitation and input saturation issue simultaneously. To address this problem, we first…

A novel dynamic model-based trajectory tracking control law is proposed for a four-wheel differentially driven mobile robot using a backstepping technique that guarantees the Lyapunov stability. The present work improves the work of…

This paper introduces a novel attitude controller for spacecraft subject to actuator saturation and multiple exclusion cone constraints. The proposed solution relies on a two-layer approach where the first layer prestabilizes the system…

In this article, a novel prescribed performance adaptive fixed-time backstepping control strategy is investigated for the attitude tracking of a 3-DOF helicopter. First, a new unified barrier function (UBF) is designed to convert the…

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…

This paper considers the controllability analysis and fault tolerant control problem for a class of hexacopters. It is shown that the considered hexacopter is uncontrollable when one rotor fails, even though the hexacopter is over-actuated…

The ability of aerial robots to operate in the presence of failures is crucial in various applications that demand continuous operations, such as surveillance, monitoring, and inspection. In this paper, we propose a fault-tolerant control…

This paper develops a novel physics-based approach for fault-resilient multi-quadcopter coordination in the presence of abrupt quadcopter failure. Our approach consists of two main layers: (i) high-level physics-based guidance to safely…

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…

This paper provides new results for a tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid complexities and…

Multi-rotors face significant risks, as actuator failures at high altitudes can easily result in a crash and the robot's destruction. Therefore, rapid fault recovery in the event of an actuator failure is necessary for the fault-tolerant…

The quadrotor task of negotiating aggressive attitude maneuvers while adhering to motor constraints is addressed here. The majority of high level quadrotor Nonlinear Control System (NCS) solutions ignore motor control authority limitations,…

We present a switching scheme, which uses both the attitude-error quaternion (AEQ) and the angular-velocity error, for controlling the rotational degrees of freedom of an uncrewed aerial vehicle (UAV) during flight. In this approach, the…

In this paper, a novel robust tracking control law is proposed for constrained robots under unknown stiffness environment. The stability and the robustness of the controller are proved using a Lyapunov-based approach where the relationship…

Learning controllers merely based on a performance metric has been proven effective in many physical and non-physical tasks in both control theory and reinforcement learning. However, in practice, the controller must guarantee some notion…

In this paper, we present a novel cascade control structure with formal guarantees of uniform almost global asymptotic stability for the state tracking error dynamics of a quadcopter. The proposed approach features a model predictive…

In this paper, we consider the tracking control problem for robot manipulators which are affected by constant bounded disturbances. Three control schemes are applied for the problem, which composed of integral action and tracking…

The notion of safety in multi-agent systems assumes great significance in many emerging collaborative multi-robot applications. In this paper, we present a multi-UAV collaborative target-tracking application by defining bounded inter-UAV…

This paper highlights the significance of the rotor dynamics in control design for small-scale aerobatic helicopters, and proposes two singularity free robust attitude tracking controllers based on the available states for feedback. 1. The…

Unmanned Aerial Vehicles (UAVs) are now becoming increasingly accessible to amateur and com-mercial users alike. Several types of airspace structures are proposed in recent research, which include several structured free flight concepts. In…