相关论文: Geometric Tracking Control of Omnidirectional Mult…
This paper presents a new adaptive sliding mode control (SMC) framework for quadrotors that achieves robust and agile flight under tight computational constraints. The proposed controller addresses key limitations of prior SMC formulations,…
The aim of this work is to control the longitudinal position of an autonomous vehicle with an internal combustion engine. The powertrain has an inherent dead-time characteristic and constraints on physical states apply since the vehicle is…
In this work we present the optimization-based design and control of a fully-actuated omnidirectional hexarotor. The tilt angles of the propellers are designed by maximizing the control wrench applied by the propellers. This maximizes (a)…
The paper solves the problem of tracking control of a quadrotor with unmeasurable pitch and roll angles based on the geometric approach with the use of the enhanced extended observer and the internal model. The proposed approach makes it…
We study a trajectory tracking problem for a multi-rotor in the presence of modeling error and external disturbances. The desired trajectory is unknown and generated from a reference system with unknown or partially known dynamics. We…
We propose a new multirotor aerial vehicle class of designs composed of a multi-body structure in which a main body is connected by passive joints to links equipped with propellers. We have investigated some instances of such class, some of…
In the evolving landscape of high-speed agile quadrotor flight, achieving precise trajectory tracking at the platform's operational limits is paramount. Controllers must handle actuator constraints, exhibit robustness to disturbances, and…
This paper introduces a new multi-model predictive control (MMPC) method for quadrotor attitude control with performance nearly on par with nonlinear model predictive control (NMPC) and computational efficiency similar to linear model…
We propose a robust nonlinear model predictive control (MPC) scheme for trajectory-tracking control of autonomous vehicles at the limits of handling on non-planar road surfaces. We derive the dynamics from first principles and selectively…
Using the context of trajectory estimation and tracking for multi-rotor unmanned aerial vehicles (UAVs), we explore the challenges in applying high-gain observers to highly dynamic systems. The multi-rotor will operate in the presence of…
In this paper we present a maneuver regulation scheme for Vertical Take-Off and Landing (VTOL) micro aerial vehicles (MAV). Differently from standard trajectory tracking, maneuver regulation has an intrinsic robustness due to the fact that…
Panoramic imagery, with its 360{\deg} field of view, offers comprehensive information to support Multi-Object Tracking (MOT) in capturing spatial and temporal relationships of surrounding objects. However, most MOT algorithms are tailored…
Learning-based control approaches like reinforcement learning (RL) have recently produced a slew of impressive results for tasks like quadrotor trajectory tracking and drone racing. Naturally, it is common to demonstrate the advantages of…
Omnidirectional micro aerial vehicles are a growing field of research, with demonstrated advantages for aerial interaction and uninhibited observation. While systems with complete pose omnidirectionality and high hover efficiency have been…
Bidirectional thrust grants quadrotors a second equilibrium condition and increased control authority, expanding the envelope of possible aggressive maneuvers and enabling inverted flight, perching, and sensing. Prior geometric control…
This paper presents a framework for real-time optimal controlling of a heavy-duty skid-steered mobile platform for trajectory tracking. The importance of accurate real-time performance of the controller lies in safety considerations of…
Almost-global orientation trajectory tracking for a rigid body with external actuation has been well studied in the literature, and in the geometric setting as well. The tracking control law relies on the fact that a rigid body is a simple…
The ability to deal with systems parametric uncertainties is an essential issue for heavy self-driving vehicles in unconfined environments. In this sense, robust controllers prove to be efficient for autonomous navigation. However,…
In this paper, we present a cascade control structure to address the trajectory tracking problem for quadcopters, ensuring uniform global asymptotic stability of the state tracking error dynamics. An MPC strategy based on a 12-dimensional…
This paper presents contributions on nonlinear tracking control systems for a quadrotor unmanned micro aerial vehicle. New controllers are proposed based on nonlinear surfaces composed by tracking errors that evolve directly on the…