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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…

This work addresses the problem of robust attitude control of quadcopters. First, the mathematical model of the quadcopter is derived considering factors such as nonlinearity, external disturbances, uncertain dynamics and strong coupling.…

Bats' dynamic morphing wings are known to be extremely high-dimensional, and they employ the combination of inertial dynamics and aerodynamics manipulations to showcase extremely agile maneuvers. Bats heavily rely on their highly flexible…

Accurate estimation of aerodynamic forces is essential for advancing the control, modeling, and design of flapping-wing aerial robots with dynamic morphing capabilities. In this paper, we investigate two distinct methodologies for force…

Despite substantial growth in wind energy technology in recent decades, aerodynamic modeling of wind turbines relies on momentum models derived in the late 19th and early 20th centuries, which are well-known to break down under flow regimes…

Tiny flying insects of body lengths under 2 mm use the `clap-and-fling' mechanism with bristled wings for lift augmentation and drag reduction at chord-based Reynolds number ($Re$) on $\mathcal{O}$(10). We examine wing-wing interaction of…

This paper presents a novel modeling approach for unsteady aircraft airflow, leveraging the Lorenz attractor framework. The proposed model is based on the force distribution exerted by a lift-generating wing on the surrounding fluid. It…

Control algorithms initially developed for tilt-wing vertical take-off and landing (VTOL) aircraft are adapted to the tilt-rotor design. The main difference between the two types of planes is the more complicated interaction between…

The 3D flight control of a flapping wing robot is a very challenging problem. The robot stabilizes and controls its pose through the aerodynamic forces acting on the wing membrane which has complex dynamics and it is difficult to develop a…

Mechanisms of aerial righting in juvenile Chukar Partridge (Alectoris chukar) were studied from hatching through 14 days post hatching (dph). Asymmetric movements of the wings were used from 1 to 8 dph to effect progressively more…

This paper carries out the mathematical modeling, simulation, and control law design for a quadrotor with variable-pitch propellers. The use of variable-pitch propeller for thrust variation instead of RPM regulation facilitates generation…

Overactuated omnidirectional flying vehicles are capable of generating force and torque in any direction, which is important for applications such as contact-based industrial inspection. This comes at the price of an increase in model…

This paper explores the mathematical modelling and 3D design of a tilt-rotor quadrotor aircraft. The aircraft is a VTOL design and has capacity for one pilot. The design incorporates a part manual part automatic computerised flight control…

Over the past few decades, continuous quaternion-based attitude control has been proven highly effective for driving rotational systems that can be modeled as rigid bodies, such as satellites and drones. However, methods rooted in this…

An approach to control tethered wings for airborne wind energy is proposed. A fixed length of the lines is considered, and the aim of the control system is to obtain figure-eight crosswind trajectories. The proposed technique is based on…

This paper proposes a novel method for the prevention of the unbounded oscillation of an aircraft wings under the flexural torsion flutter. The paper introducing the novel multiagent method for control of an aircraft wing, assuming that the…

Time-delayed control in a balancing problem may be a nonsmooth function for a variety of reasons. In this paper we study a simple model of the control of an inverted pendulum by either a connected movable cart or an applied torque for which…

In this letter, we present a novel bi-modal bi-copter robot called Skater, which is adaptable to air and various ground surfaces. Skater consists of a bi-copter moving along its longitudinal direction with two passive wheels on both sides.…

Autonomous flight of flapping-wing robots is a major challenge for robot perception. Most of the previous sense-and-avoid works have studied the problem of obstacle avoidance for flapping-wing robots considering only static obstacles. This…

This paper presents a novel VTOL UAV that owns a link connecting four rotors and a fuselage by a passive joint, allowing the control of the rotor's tilting angle by adjusting the rotors' thrust. This unique structure contributes to…