相关论文: Multi-agent control of airplane wing stability und…
This paper studies the multi-agent coverage control (MAC) problem where agents must dynamically learn an unknown density function while performing coverage tasks. Unlike many current theoretical frameworks that concentrate solely on the…
Improving wind turbine efficiency is essential for reducing the costs of energy production. The highly nonlinear dynamics of the wind turbines and their uncertain operating conditions have posed many challenges for their control methods. In…
For many tasks, multi-robot teams often provide greater efficiency, robustness, and resiliency. However, multi-robot collaboration in real-world scenarios poses a number of major challenges, especially when dynamic robots must balance…
In this paper, we introduce a translational force control method with disturbance observer (DOB)-based force disturbance cancellation for precise three-dimensional acceleration control of a multi-rotor UAV. The acceleration control of the…
Aerial manipulation aims at combining the manoeuvrability of aerial vehicles with the manipulation capabilities of robotic arms. This, however, comes at the cost of the additional control complexity due to the coupling of the dynamics of…
This paper presents a novel modeling approach for unsteady aircraft airflow, leveraging the Lorenz attractor framework. The proposed model is based on the force distribution exerted by a lift-generating wing on the surrounding fluid. It…
Recent spacecraft mission concepts propose larger payloads that have lighter, less rigid structures. For large lightweight structures, the natural frequencies of their vibration modes may fall within the attitude controller bandwidth,…
Inspired by the natural motion of insects, fish, and other animals, flapping airfoils have gained significant importance due to their applications in fields such as ship propulsion, micro aerial vehicles, and autonomous underwater vehicles.…
We first consider the stabilization of the bending and twisting of a rectangular cantilever beam of moderate to high aspect ratio using full state feedback boundary control. Our approach is an infinite dimesnional extension of Linear…
Turbulent boundary layers over aerodynamic surfaces are a major source of aircraft drag, yet their control remains challenging due to multiscale dynamics and spatial variability, particularly under adverse pressure gradients. Reinforcement…
This paper presents a modeling and control framework for multibody flying robots subject to non-negligible aerodynamic forces acting on the centroidal dynamics. First, aerodynamic forces are calculated during robot flight in different…
This paper proposes an adaptive tracking strategy with mass-inertia estimation for aerial transportation problems of multi-rotor UAVs. The dynamic model of multi-rotor UAVs with disturbances is firstly developed with a linearly…
The ground effect on multicopters introduces several challenges, such as control errors caused by additional lift, oscillations that may occur during near-ground flight due to external torques, and the influence of ground airflow on models…
This study explores modeling and control for quadrotor acrobatics, focusing on executing flip maneuvers. Flips are an elegant way to deliver sensor probes into no-fly or hazardous zones, like volcanic vents. Successful flips require…
In this paper, we tackle the problem of flying a quadrotor using time-optimal control policies that can be replanned online when the environment changes or when encountering unknown disturbances. This problem is challenging as the…
Wing-assisted inclined running (WAIR) observed in some young birds, is an attractive maneuver that can be extended to legged aerial systems. This study proposes a control method using a modified Variable Length Inverted Pendulum (VLIP) by…
Unmanned aerospace vehicles usually carry sensors (i.e., electro-optical and/or infrared imaging cameras) as their primary payload. These sensors are used for image processing, target tracking, surveillance, mapping, and providing…
The present research aims to enhance the efficiency of a DTU-10MW Horizontal Axis Wind Turbine (HAWT) via Active Flow Control (AFC) implementation and using Synthetic Jets (SJ). In the initial part of the study the flow around two airfoil…
We perform direct numerical simulations (DNS) of actively controlled laminar separated wakes around low-aspect-ratio wings with two primary goals: (i) reducing the size of the separation bubble and (ii) attenuating the wing tip vortex.…
The aerial environment in the operating domain of small-scale natural and artificial flapping wing fliers is highly complex, unsteady and generally turbulent. Considering flapping flight in an unsteady wind environment with a periodically…