相关论文: A Novel Formula Calculating the Dynamic State Erro…

This paper addresses the problem of designing a trajectory tracking control law for a quadrotor UAV, subsequent to complete failure of a single rotor. The control design problem considers the reduced state space which excludes the angular…

This paper presents a mathematic dynamic model of a quadrotor unmanned aerial vehicle (QUAV) by using the symbolic regression approach and then proposes a hierarchical control scheme for trajectory tracking. The symbolic regression approach…

Using a dynamical model to make predictions about a system has many sources of error. These can include errors in how the model was initialised but also errors in the dynamics of the model itself. For many applications in data assimilation,…

In this paper, we develop a novel and simple adaptive control scheme for a one-dimensional unstable heat equation with unknown control coefficient. A new state observer is designed to estimate the system state, while a new update law is…

Steady-state models which have been learned from historical operational data may be unfit for model-based optimization unless correlations in the training data which are introduced by control are accounted for. Using recent results from…

The conceptual design and flight controller of a novel kind of quadcopter are presented. This design is capable of morphing the shape of the UAV during flight to achieve position and attitude control. We consider a dynamic center of gravity…

This paper presents a trajectory-tracking controller for multi-rotor unmanned aerial vehicles (UAVs) in scenarios where only the desired position and heading are known without the higher-order derivatives. The proposed solution modifies the…

This paper addresses the trajectory tracking control problem for underactuated VTOL UAVs. According to the different actuation mechanisms, the most common UAV platforms can achieve only a partial decoupling of attitude and position tasks.…

This paper focuses on developing a strategy for control of systems whose dynamics are almost entirely unknown. This situation arises naturally in a scenario where a system undergoes a critical failure. In that case, it is imperative to…

Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the…

This paper considers a resilient state estimation framework for unmanned aerial vehicles (UAVs) that integrates a Kalman filter-like state estimator and an attack detector. When an attack is detected, the state estimator uses only IMU…

A new dynamic control algorithm in order to direct the trajectory of a glider to a pre-assigned target point is proposed. The algorithms runs iteratively and the approach to the target point is self-correcting. The algorithm is applicable…

In this paper, we present an autonomous flight controller for a quadcopter with thrust vectoring capabilities. This UAV falls in the category of multirotors with tilt-motion enabled rotors. Since the vehicle considered is over-actuated in…

With the increasing use of drones across various industries, the navigation and tracking of these unmanned aerial vehicles (UAVs) in challenging environments (such as GNSS-denied environments) have become critical issues. In this paper, we…

Communication-aware trajectory generation for unmanned aerial vehicles (UAVs) operating in urban environments requires simultaneous consideration of vehicle dynamics, wireless communication quality, obstacle avoidance, and onboard energy…

This paper deals with the tracking control problem for a class of unknown pure feedback system with pure state constraints on the state variables and unknown time-varying bounded disturbances. An adaptive controller is presented for such…

This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…

We present a method for providing statistical guarantees on runtime safety and goal reachability for integrated planning and control of a class of systems with unknown nonlinear stochastic underactuated dynamics. Specifically, given a…

Fault tolerance is achieved through multiply redundant hardware systems in large civil aircraft. This means of achieving fault tolerance is infeasible for small compact unmanned aerial vehicles. In this paper we apply a fault tolerant…

Consider an unmanned aerial vehicle (UAV) physically connected to the ground station with a tether operating in a space, tasked with performing precise maneuvers while constrained by the physical limitation of its tether, which prevents it…