相关论文: Disturbance Estimation and Rejection for High-Prec…

This paper presents a round-trip strategy of multirotors subject to unknown flow disturbances. During the outbound flight, the vehicle immediately utilizes the wind disturbance estimations in feedback control, as an attempt to reduce the…

The use of state estimation technique offers a means of inferring the rotor-effective wind speed based upon solely standard measurements of the turbine. For the ease of design and computational concerns, such estimators are typically built…

Attitude stabilization of unmanned aerial vehicles (UAVs) in uncertain environments presents significant challenges due to nonlinear dynamics, parameter variations, and sensor limitations. This paper presents a comparative study of…

Natural disasters, such as hurricanes and typhoons, pose significant challenges to public safety and infrastructure. While government agencies rely on multi million dollar UAV systems for storm data collection and disaster response, smaller…

This paper evaluates and compares the performance of model-free and model-based reinforcement learning for the attitude control of fixed-wing unmanned aerial vehicles using PID as a reference point. The comparison focuses on their ability…

Autonomous landing on a moving platform presents unique challenges for multirotor vehicles, including the need to accurately localize the platform, fast trajectory planning, and precise/robust control. Previous works studied this problem…

Localization using a single range anchor combined with onboard optical-inertial odometry offers a lightweight solution that provides multidimensional measurements for the positioning of unmanned aerial vehicles. Unfortunately, the…

Carrier landing of aircrafts is a challenge for control due to the existence of nonlinear wind disturbances and the requirements of changing reference trajectories. In this paper, a robust landing control system is presented for carrier…

This paper presents a novel trajectory tracker for autonomous quadrotor navigation in dynamic and complex environments. The proposed framework integrates a distributional Reinforcement Learning (RL) estimator for unknown aerodynamic effects…

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…

Recently developed control methods with strong disturbance rejection capabilities provide a useful option for control design. The key lies in a general concept of disturbance and effective ways to estimate and compensate the disturbance.…

In this paper, we study the control design of an automatic crosswind stabilization system for a novel, buoyantly-assisted aerial transportation vehicle. This vehicle has several advantages over other aircraft including the ability to…

Proportional-Integral-Derivative (PID) scheme is the most commonly used algorithm for designing the controllers for unmanned aerial vehicles (UAVs). However, tuning PID gains is a non trivial task. A number of methods have been developed…

This paper applies the UAV to the inspection of water diversion pipelines in hydropower stations. The diversion pipeline is an enclosed space, so the airflow disturbance caused by the rotation of the UAV blades and the strong air convection…

This thesis is concerned with the rejection of time-varying disturbances in linear model predictive control of discrete-time systems. In the literature, disturbances are widely rejected by using velocity models, disturbance model with…

Close-proximity offshore wind turbine inspection requires strict clearance control around large cylindrical structures under wind and model mismatch. Nominal Nonlinear Model Predictive Control (NMPC) may violate safety constraints when…

This paper addresses the problem of thrust estimation and control for the rotors of small-sized multirotors Uncrewed Aerial Vehicles (UAVs). Accurate control of the thrust generated by each rotor during flight is one of the main challenges…

We present a model-based approach to wind velocity profiling using motion perturbations of a multirotor unmanned aircraft system (UAS) in both hovering and steady ascending flight. A state estimation framework was adapted to a set of…

The demand for accurate and fast trajectory tracking for multirotor Unmanned Aerial Vehicles (UAVs) have grown recently due to advances in UAV avionics technology and application domains. In many applications, the multirotor UAV is required…

A major challenge in autonomous flights is unknown disturbances, which can jeopardize safety and lead to collisions, especially in obstacle-rich environments. This paper presents a disturbance-aware motion planning and control framework…