相关论文: Technical Report on: Anchoring Sagittal Plane Temp…

This paper presents a model of an agile tail-sitter aircraft, which can operate as a helicopter as well as capable of transition to fixed-wing flight. Aerodynamics of the co-axial counter-rotating propellers with quad rotors are analysed…

This technical report contains the formal definitions and metatheory for the act specification and verification language. It documents the syntax, the operational pointer semantics, the type system and the main metatheoretic results…

This paper introduces an analytical framework for the derivation of hybrid equations of motion of a flexible quadrotor. This approach helps obtain rigid and elastic equations of motion simultaneously, in a decoupled form, which facilitates…

This review explores the theoretical foundations and experimental dynamics of modern tiltrotor aircraft. Emphasizing feedback linearization, the study delves into the distinctive constraints and angular velocity ranges shaping tiltrotor…

This is a technical appendix to "Adaptive estimation of stationary Gaussian fields". We present several proofs that have been skipped in the main paper.

This paper proposed a novel fully-actuated hexacopter. It features a dual-frame passive tilting structure and achieves independent control of translational motion and attitude with minimal actuators. Compared to previous fully-actuated…

This survey paper focuses on quadrotor- and multirotor- based cooperative aerial manipulation. Emphasis is first given on comparing and evaluating prototype systems that have been implemented and tested in real-time in diverse application…

This paper is focused on tracking control for a rigid body payload, that is connected to an arbitrary number of quadrotor unmanned aerial vehicles via rigid links. A geometric adaptive controller is constructed such that the payload…

We develop a general framework for working with structured lifting problems, establishing closure and uniqueness properties of their solutions. In a subsequent paper, we apply these results to axiomatize computation rules of cubical type…

Recent quadrotors have transcended conventional designs, emphasizing more on foldable and reconfigurable bodies. The state of the art still focuses on the mechanical feasibility of such designs with limited discussions on the tracking…

The main focus of the work presented in this thesis is to develop an optimal control based formation flying control strategy for high precision formation flying of small satellites that have restricted computation and storage capacity.…

In this paper, a robust control solution for a satellite equipped with a robotic manipulator is presented. First, the dynamic model of the system is derived based on quaternions to describe the evolution of the attitude of the base…

We give a brief overview of the status of the numerical conformal bootstrap.

The numerical conformal bootstrap is used to study mixed correlators in $\mathcal{N}=1$ superconformal field theories (SCFTs) in $d=4$ spacetime dimensions. Systems of four-point functions involving scalar chiral and real operators are…

This paper presents a comprehensive design process for the integration of a robotic arm into a quadcopter, emphasizing the physical modeling, system integration, and controller development. Utilizing SolidWorks for mechanical design and…

This paper proposes a fault-tolerant control strategy based on a tilt-rotor quadcopter prototype, utilizing nonlinear model predictive control to maintain both attitude and position stability in the event of rotor failure. The control…

This technical note focuses on the control of a quadrotor unmanned aerial vehicle (UAV) tethered to the ground. The control objective is to stabilize the UAV to the desired position while ensuring that the cable remains taut at all times. A…

In this paper we will present a mathematical description and analysis of a fractional-order regulated system in the state space and the state-space controller design based on placing the closed-loop poles on the complex plane. Presented are…

This paper presents a multi-step procedure to construct the dynamic motion model of an autonomous quadcopter, identify the model parameters, and design a model-based nonlinear trajectory tracking controller. The aim of the proposed method…

We provide verification theorems (at different levels of generality) for infinite horizon stochastic control problems in continuous time for semimartingales. The control framework is given as an abstract "martingale formulation", which…