相关论文: Geometric Tracking Control of Omnidirectional Mult…
The quadrotor task of negotiating aggressive attitude maneuvers while adhering to motor constraints is addressed here. The majority of high level quadrotor Nonlinear Control System (NCS) solutions ignore motor control authority limitations,…
Flapping-wing micro aerial vehicles offer quieter and safer operation than rotary-wing drones, yet achieving precise autonomous control of bird-scale ornithopters remains challenging: lift, airspeed, and turning authority are tightly…
A novel dynamic model-based trajectory tracking control law is proposed for a four-wheel differentially driven mobile robot using a backstepping technique that guarantees the Lyapunov stability. The present work improves the work of…
A tethered multirotor autogyro can function as an unmanned aerial vehicle for energy-efficient and prolonged deployment, as it uses the available wind energy to sustain flight. This article presents an adaptive altitude control strategy for…
Collaborative robots and space manipulators contain significant joint flexibility. It complicates the control design, compromises the control bandwidth, and limits the tracking accuracy. The imprecise knowledge of the flexible joint…
Aerial manipulators based on conventional multirotors can conduct manipulation only in small roll and pitch angles due to the underactuatedness of the multirotor base. If the multirotor base is capable of hovering at arbitrary orientation,…
This paper presents a new flight control framework for tilt-rotor multirotor uncrewed aerial vehicles (MRUAVs). Tiltrotor designs offer full actuation but introduce complexity in control allocation due to actuator redundancy. We propose a…
This is a complementary document to the paper presented in [1], to provide more detailed proofs for some results. The main paper addresses the problem of trajectory tracking control of autonomous rotorcraft in operation scenarios where only…
Many multirotor Unmanned Aerial Systems applications have a critical need for precise position control in environments with strong dynamic external disturbances such as wind gusts or ground and wall effects. Moreover, to maximize flight…
This paper presents a robust tracking controller for tracking curvature-constrained paths by vehicles/robots with uncertain Dubins dynamics. Although Dubins paths have been widely used in vehicular and robotic applications, robust and…
Tilted hexarotors embody a technology that remains partially unexploited in terms of its potential, especially concerning precise and concurrent position and attitude control. Focusing on these aerial platforms, we propose two control…
This paper proposes a nonlinear control architecture for flexible aircraft simultaneous trajectory tracking and load alleviation. By exploiting the control redundancy, the gust and maneuver loads are alleviated without degrading the…
Tilt-rotor aerial robots are more dynamic and versatile than fixed-rotor platforms, since the thrust vector and body orientation are decoupled. However, the coordination of servos and propellers (the allocation problem) is not trivial,…
This paper proposes a Model Predictive Control (MPC) algorithm for target tracking amongst static and dynamic obstacles. Our main contribution lies in improving the computational tractability and reliability of the underlying non-convex…
In this paper, we propose a new model predictive control (MPC) formulation for autonomous driving. The novelty of our MPC stems from the following results. Firstly, we adopt an alternating minimization approach wherein linear velocities and…
This paper presents a novel robust predictive controller for constrained nonlinear systems that is able to track piece-wise constant setpoint signals. The tracking model predictive controller presented in this paper extends the nonlinear…
This paper presents global tracking strategies for the attitude dynamics of a rigid body. It is well known that global attractivity is prohibited for continuous attitude control systems on the special orthogonal group. Such topological…
Groups of unmanned aerial vehicles (UAVs) are increasingly utilized in transportation task as the combined strength allows to increase the maximum payload. However, the resulting mechanical coupling of the UAVs impose new challenges in…
Utilizing a servo to tilt each rotor transforms quadrotors from underactuated to overactuated systems, allowing for independent control of both attitude and position, which provides advantages for aerial manipulation. However, this…
We present a new stability proof for cascaded geometric control used by aerial vehicles tracking time-varying position trajectories. Our approach uses sliding variables and a recently proposed quaternion-based sliding controller to…