相关论文: Planning and Control for a Dynamic Morphing-Wing U…

This paper provides new results for a robust adaptive tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid…

In systems control, the dynamics of a system are governed by modulating its inputs to achieve a desired outcome. For example, to control the thrust of a quad-copter propeller the controller modulates its rotation rate, relying on a…

This paper presents a constraint-aware control framework for underactuated aerial manipulators, enabling accurate end-effector trajectory tracking while explicitly accounting for safety and feasibility constraints. The control problem is…

In recent years, the need for resources for handling processes with high computational complexity for mobile robots is becoming increasingly urgent. More specifically, robots need to autonomously operate in a robust and continuous manner,…

In this paper, we address the issue of congestion in future Unmanned Aerial Vehicle (UAVs) traffic system in uncertain weather. We treat the traffic of UAVs as fluid queues, and introduce models for traffic dynamics at three basic traffic…

Unmanned aerial vehicles (UAVs) have various advantages, but their practical applications are influenced by their limited energy. Therefore, it is important to manage their power consumption and also important to establish corresponding…

We propose a novel probabilistically robust controller for the guidance of an unmanned aerial vehicle (UAV) in coverage planning missions, which can simultaneously optimize both the UAV's motion, and camera control inputs for the 3D…

This paper focuses on the control of a system composed of an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV) which cooperate to manipulate an object. The two units are subject to actuator saturations and cooperate to move…

Morphing multirotors, such as the Foldable Drone , can increase the versatility of drones employing in-flight-adaptive-morphology. To further increase precision in their tasks, recent works have investigated stable flight in asymmetric…

Autonomous navigation through unknown environments is a challenging task that entails real-time localization, perception, planning, and control. UAVs with this capability have begun to emerge in the literature with advances in lightweight…

In controlling systems with large operating envelopes, it is often necessary to adjust the desired dynamics according to operating conditions. This paper presents a robust adaptive control architecture for linear parameter-varying (LPV)…

We integrate a discrete vortex method with complex network analysis to strategize dynamic stall mitigation over a pitching airfoil with active flow control. The objective is to inform actuator placement and timing to introduce control…

This study aims to design a motion/force controller for an aerial manipulator which guarantees the tracking of time-varying motion/force trajectories as well as the stability during the transition between free and contact motions. To this…

Thermal soaring saves much energy, but flying large distances in this form represents a great challenge for birds, people and Unmanned Aerial Vehicles (UAVs). The solution is to make use of so-called thermals, which are localized, warmer…

A testbed has recently been introduced that evolves controllers for arbitrary hover-capable UAVs, with evaluations occurring directly on the robot. To prepare the testbed for real-world deployment, we investigate the effects of state-space…

In this paper, we investigate a secure communication architecture based on unmanned aerial vehicle (UAV), which enhances the security performance of the communication system through UAV trajectory optimization. We formulate a control…

The growing field of aerial manipulation often relies on fully actuated or omnidirectional micro aerial vehicles (OMAVs) which can apply arbitrary forces and torques while in contact with the environment. Control methods are usually based…

This paper proposes a novel control law for accurate tracking of agile trajectories using a tailsitter flying wing unmanned aerial vehicle (UAV) that transitions between vertical take-off and landing (VTOL) and forward flight. The global…

Dealing with meteorological uncertainty poses a major challenge in air traffic management (ATM). Convective weather (commonly referred to as storms or thunderstorms) in particular represents a significant safety hazard that is responsible…

This paper studies the collision avoidance problem for autonomous multiple fixedwing UAVs in the complex integrated airspace. By studying and combining the online path planning method, the distributed model predictive control algorithm, and…