相关论文: Swashplateless-elevon Actuation for a Dual-rotor T…

This paper presents a novel approach to utilizing underactuated quadrotor Unmanned Aerial Vehicles (UAVs) as assistive devices in cooperative payload transportation task through human guidance and physical interaction. The proposed system…

Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…

Variable impedance actuators (VIAs) as tool devices for teleoperation could extend the range of tasks that humans can perform through a teleoperated robot by mimicking the change of upper limb stiffness that humans perform for different…

Electric Vertical Take-Off and Landing (eVTOL) aircraft are expected to be quieter and more cost-effective than helicopters, offering major economic and social benefits through improved connectivity. Their adoption will require new ground…

We present a new Lyapunov-based switching attitude controller for energy-efficient real-time selection of the torque inputted to an uncrewed aerial vehicle (UAV) during flight. The proposed method, using quaternions to describe the attitude…

While autonomous Uncrewed Aerial Vehicles (UAVs) have grown rapidly, most applications only focus on passive visual tasks. Aerial interaction aims to execute tasks involving physical interactions, which offers a way to assist humans in…

Yaw control has proven to be promising in alleviating the wake effects that plague the efficiency of wind farms. In this work, the actuator line modeling (ALM) method is adopted to simulate the flows over two tandem turbines distanced by $3…

The Pugachev's cobra maneuver is a dramatic and demanding maneuver requiring the aircraft to fly at extremely high Angle of Attacks (AOA) where stalling occurs. This paper considers this maneuver on tail-sitter UAVs. We present a simple yet…

We propose the intermittently tethered unmanned aerial vehicle (iTUAV) as a tradeoff between the power availability of a tethered UAV (TUAV) and the flexibility of an untethered UAV. An iTUAV can provide cellular connectivity while being…

Using Unmanned Aerial Vehicles (UAVs) to perform high-altitude manipulation tasks beyond just passive visual application can reduce the time, cost, and risk of human workers. Prior research on aerial manipulation has relied on either ground…

An intelligent control strategy is proposed to eliminate the actuator saturation problem that exists in the trajectory tracking process of unmanned underwater vehicles (UUV). The control strategy consists of two parts: for the kinematic…

In this paper, we developed a generalized simulation framework for the evaluation of electric vertical takeoff and landing vehicles (eVTOLs) in the context of Unmanned Aircraft Systems (UAS) Traffic Management (UTM) and under the concept of…

The electric solar wind sail produces thrust by centrifugally spanned high voltage tethers interacting with the solar wind protons. The sail attitude can be controlled and attitude maneuvers are possible by tether voltage modulation…

In robotic applications, actuators are typically designed to be stiff with minimal backlash to ensure precision and repeatability. However, this limits compliance, leading to potential damage and poor force control in uncertain…

Aerial manipulators, composed of multirotors and robotic arms, have a structure and function highly reminiscent of avian species. This paper studies the tracking control problem for aerial manipulators. This paper studies the tracking…

Transition control poses a critical challenge in Vertical Take-Off and Landing Unmanned Aerial Vehicle (VTOL UAV) development due to the tilting rotor mechanism, which shifts the center of gravity and thrust direction during transitions.…

This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…

Flying vertebrates exhibit sophisticated wingbeat kinematics. Their specialized forelimbs allow for the wing morphing motion to couple with the flapping motion during their level flight, Previous flyable bionic platforms have successfully…

We address the theoretical and practical problems related to the trajectory generation and tracking control of tail-sitter UAVs. Theoretically, we focus on the differential flatness property with full exploitation of actual UAV aerodynamic…

Recent major oil-spills were tracked using observations with sufficient altitudes over the sea surface, to detect oil slick locations. For oil-spill responders, we propose a captive Unmanned Aerial System, UAS acting like a periscope over a…