相关论文: Direct NMPC for Post-Stall Motion Planning with Fi…
Operating unmanned aerial vehicles (UAVs) in complex environments that feature dynamic obstacles and external disturbances poses significant challenges, primarily due to the inherent uncertainty in such scenarios. Additionally, inaccurate…
In this paper, a novel design scheme is introduced to solve the optimal control problem for nonlinear systems with unsymmetrical and state-dependent input constraints. By introducing an initial stabilizing control policy as the baseline of…
In this study, we applied reinforcement learning based on the proximal policy optimization algorithm to perform motion planning for an unmanned aerial vehicle (UAV) in an open space with static obstacles. The application of reinforcement…
Unmanned Aerial Vehicles (UAVs) promise to become an intrinsic part of next generation communications, as they can be deployed to provide wireless connectivity to ground users to supplement existing terrestrial networks. The majority of the…
Due to the strong nonlinearity and nonholonomic dynamics, despite the various general trajectory optimization methods presented, few of them can guarantee efficient computation and physical feasibility for relatively complicated fixed-wing…
There is an increased interest in the use of Unmanned Aerial Vehicles (UAVs) for agriculture, military, disaster management and aerial photography around the world. UAVs are scalable, flexible and are useful in various environments where…
In this paper, we present a generalized, comprehensive nonlinear mathematical model and conceptual design for the MetaMorpher, a metamorphic Unmanned Aerial Vehicle (UAV) designed to bridge the gap between vertical takeoff and landing…
We propose a fixed wing unmanned aerial vehicles (UAV)-based millimeter wave (mmWave) backhaul links, that is offered as a cost effective and easy to deploy solution, to connect a disaster or remote area to the nearest core network. First,…
Unmanned aircraft systems can perform some more dangerous and difficult missions than manned aircraft systems. In some highly complicated and changeable tasks, such as air combat, the maneuvering decision mechanism is required to sense the…
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…
Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating workspace. Thus, robust motion control is still an open issue for…
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…
In this paper, we present an approach for controlling a team of agile fixed-wing aerial vehicles in close proximity to one another. Our approach relies on receding-horizon nonlinear model predictive control (NMPC) to plan maneuvers across…
Unmanned Aerial Vehicle (UAV) Coverage Path Planning (CPP) is critical for applications such as precision agriculture and search and rescue. While traditional methods rely on discrete grid-based representations, real-world UAV operations…
Nonlinear Model Predictive Control (NMPC) is a powerful approach for controlling highly dynamic robotic systems, as it accounts for system dynamics and optimizes control inputs at each step. However, its high computational complexity makes…
In this study, we propose a novel method that integrates Nonlinear Model Predictive Contour Control (NMPCC) with an Exponentially Stabilizing Control Lyapunov Function (ES-CLF) and Exponential Higher-Order Control Barrier Functions to…
We address the challenge of real-time planning of minimum-time trajectories over multiple waypoints, onboard multirotor UAVs. Previous works demonstrated that achieving a truly time-optimal trajectory is computationally too demanding to…
Capabilities of long-range flight and vertical take-off and landing (VTOL) are essential for Urban Air Mobility (UAM). Tiltrotor VTOLs have the advantage of balancing control simplicity and system complexity due to their redundant control…
Unmanned aerial vehicle (UAV)-assisted communications is a promising solution to improve the performance of future wireless networks, where UAVs are deployed as base stations for enhancing the quality of service (QoS) provided to ground…
This paper presents a new flight control framework for tilt-rotor multirotor uncrewed aerial vehicles (MRUAVs). Tiltrotor designs offer full actuation but introduce complexity in control allocation due to actuator redundancy. We propose a…