相关论文: Adaptive Nonlinear Control of Fixed-Wing VTOL with…

This paper presents the development of a sliding mode controller using the backstepping approach. The controller is employed to synthesize tracking errors and Lyapunov functions. A novel state-space representation is formulated by…

Bird-sized flapping-wing robots offer significant potential for agile flight in complex environments, but achieving agile and robust trajectory tracking remains a challenge due to the complex aerodynamics and highly nonlinear dynamics…

Navigation precision, speed and stability are crucial for safe Unmanned Aerial Vehicle (UAV) flight maneuvers and effective flight mission executions in dynamic environments. Different flight missions may have varying objectives, such as…

This work presents a new sufficient condition for synthesizing nonlinear controllers that yield bounded closed-loop tracking error transients despite the presence of unmatched uncertainties that are concurrently being learned online. The…

Nonlinear Model Predictive Control (NMPC) is a powerful and widely used technique for nonlinear dynamic process control under constraints. In NMPC, the state and control weights of the corresponding state and control costs are commonly…

Estimating the direction of ambient fluid flow is key for many flying or swimming animals and robots, but can only be accomplished through indirect measurements and active control. Recent work with tethered flying insects indicates that…

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.…

Being motivated by ceiling inspection applications via unmanned aerial vehicles (UAVs) which require close proximity flight to surfaces, a systematic control approach enabling safe and accurate close proximity flight is proposed in this…

Birds rely on active high-acceleration morphing and flapping to navigate complex airflows, but they can also maintain stable fixed-wing postures under persistent atmospheric disturbances. Here, we show that avian wings exhibit aerodynamic…

This paper presents a novel design for finite-time position control of quadrotor Unmanned Aerial Vehicles (UAVs). A robust, finite-time, nonlinear feedback controller is introduced to reject bounded disturbances in tracking tasks. The…

Tailsitter aircraft attract considerable interest due to their capabilities of both agile hover and high speed forward flight. However, traditional tailsitters that use aerodynamic control surfaces face the challenge of limited control…

This paper studies quadcopters obstacle avoidance trajectory control (OATC) problem for express delivery. A new nonlinear adaptive learning controller that is low-cost and portable to different wheelbase sizes is proposed to adapt to…

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…

Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…

In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work…

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 propose a novel adaptive reinforcement learning control approach for fault tolerant control of degrading systems that is not preceded by a fault detection and diagnosis step. Therefore, \textit{a priori} knowledge of faults that may…

Accurate real-time wind vector estimation is essential for enhancing the safety, navigation accuracy, and energy efficiency of unmanned aerial vehicles (UAVs). Traditional approaches rely on external sensors or simplify vehicle dynamics,…

The expectation of unmanned air vehicles (UAVs) pushes the operation environment to narrow spaces, where the systems may fly very close to an object and perform an interaction. This phase brings the variation in UAV dynamics: thrust and…

Contrary to the stunning feats observed in birds of prey, aerial manipulation and grasping with flying robots still lack versatility and agility. Conventional approaches using rigid manipulators require precise positioning and are subject…