相关论文: Stability and Robustness Analysis of Plug-Pulling …

This work answers positively the question whether non-stop flights are possible for maintaining constant the pose of cable-suspended objects. Such a counterintuitive answer paves the way for a paradigm shift where energetically efficient…

Whether for their maneuverability, autonomy or ergonomics, convertible UAVs, meaning those with the ability to take off or land vertically and fly like an airplane, present many interests. However, their dynamics are complicated by various…

This note presents an embedded automatic control strategy for a low consumption vehicle equipped with an "on/off" engine. The main difficulties are the hybrid nature of the dynamics, the non smoothness of the dynamics of each mode, the…

This paper studies the model of the probe-drogue aerial refueling system under aerodynamic disturbances, and proposes a docking control method based on terminal iterative learning control to compensate for the docking errors caused by…

The problem of designing a stabilizing feedback controller in the presence of saturating actuators and multi-rate (asynchronous) aperiodic state measurements is studied. Specifically, we consider a scenario in which measurements of the…

We experimentally demonstrate a robust dynamical decoupling protocol with bounded controls using long soft pulses, eliminating a challenging requirement of strong control pulses in conventional implementations. This protocol is accomplished…

We study an in-flight actuator failure recovery problem for a hexrotor UAV. The hexrotor may experience external disturbances and modeling error, which are accounted for in the control design and distinguished from an actuator failure. A…

This paper presents a constraint-aware control framework for underactuated aerial manipulators, enabling accurate end-effector trajectory tracking while explicitly accounting for safety and feasibility constraints. The control problem is…

Aerial manipulators (AMs) are gaining increasing attention in automated transportation and emergency services due to their superior dexterity compared to conventional multirotor drones. However, their practical deployment is challenged by…

The joint optimization of physical parameters and controllers in robotic systems is challenging. This is due to the difficulties of predicting the effect that changes in physical parameters have on final performances. At the same time,…

Snapping instabilities in soft structures offer a powerful pathway to achieve rapid and energy-efficient actuation. In this study, an eccentric dome-shaped snapping actuator is developed to generate controllable asymmetric motion through…

We explore the rotational stability of hovering flight. Our model is motivated by an experimental pyramid-shaped object and a computational lambda-shaped analog hovering passively in oscillating airflows; both systems have been shown to…

We identify the nonlinear normal modes spawning from the stable equilibrium of a double pendulum under gravity, and we establish their connection to homoclinic orbits through the unstable upright position as energy increases. This result is…

Purpose: Real-life applications using quadrotors introduce a number of disturbances and time-varying properties that pose a challenge to flight controllers. We observed that, when a quadrotor is tasked with picking up and dropping a…

We explain optical and mirrors displacement bistability in a hybrid optomechanical system in the presence of a strong laser driving field and a weak probe field. External modulating fields are applied selectively on movable mirrors. We show…

The work considers the design of an indirect adaptive controller for a satellite equipped with a robotic arm manipulating an object. Uncertainty on the manipulated object can considerably impact the overall behavior of the system. In…

This paper presents the full dynamics and control of arbitrary number of quadrotor unmanned aerial vehicles (UAV) transporting a rigid body. The rigid body is connected to the quadrotors via flexible cables where each flexible cable is…

This paper presents a distributed control architecture for voltage and frequency stabilization in AC islanded microgrids. In the primary control layer, each generation unit is equipped with a local controller acting on the corresponding…

In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…

In rotary-wing aircraft, rotating blades are exposed to collisions and subsequent damage. The detection and isolation of blade damage constitute the first step in fault mitigation; however, they are particularly challenging when…