相关论文: 6-DOF All-Terrain Cyclocopter

Purpose: Real-life applications using quadrotors introduce a number of disturbances and time-varying properties that pose a challenge to flight controllers. We observed that, when a quadrotor is tasked with picking up and dropping a…

Micro aerial vehicles are becoming increasingly important in search and rescue operations due to their agility, speed, and ability to access confined spaces or hazardous areas. However, designing lightweight aerial systems presents…

To enhance the obstacle-crossing and endurance capabilities of vehicles operating in complex environments, this paper presents the design of a hybrid terrestrial/aerial coaxial tilt-rotor vehicle, TactV, which integrates advantages such as…

This research proposes a Sliding Mode PID (SMC-PID) controller to improve the speed control performance of DC servo motors, which are widely used in industrial applications such as robotics and CNC. The objective of the proposed controller…

This work addresses the modelling and control aspects for quadcopter or drone unmanned aerial vehicles (UAVs). First, the mathematical model of the drone is derived by identifying significant parameters and the negligible ones are treated…

In this study, a fault-tolerant super-twisting sliding mode controller with a control allocation system for a quadrotor aircraft is proposed. Super twisting sliding mode control is a robust control technique that handles a system with a…

Unmanned aerial vehicles have been demonstrated successfully in a variety of tasks, including surveying and sampling tasks over large areas. These vehicles can take many forms. Quadrotors' agility and ability to hover makes them well suited…

We present SMORS, the first Soft fully actuated MultirOtoR System for multimodal locomotion. Unlike conventional hexarotors, SMORS is equipped with three rigid and three continuously soft arms, with each arm hosting a propeller. We create a…

The conceptual design and flight controller of a novel kind of quadcopter are presented. This design is capable of morphing the shape of the UAV during flight to achieve position and attitude control. We consider a dynamic center of gravity…

A complete model of quadcopter motion for the task of dynamic positioning at a specified point is derived. Based on this model, two control algorithms are proposed. The first one generalizes previously obtained results to the case of a…

Manipulator dynamics, external forces and moments raise issues in stability and efficient control during aerial manipulation. Additionally, multirotor Micro Aerial Vehicles impose stringent limits on payload, actuation and system states. In…

Automating drone-assisted processes is a complex task. Many solutions rely on trajectory generation and tracking, whereas in contrast, path-following control is a particularly promising approach, offering an intuitive and natural approach…

Pneumatically-actuated anthropomorphic robots with high degrees of freedom (DOF) offer significant potential for physical human-robot interaction. However, precise control of pneumatic actuators is challenging due to their inherent…

The control of small-scale helicopter is a MIMO problem. To use of classical control approach to formally solve a MIMO problem, one needs to come up with multidimensional Root Locus diagram to tune the control parameters. The problem with…

This paper investigates tracking controls for an arbitrary number of cooperating quadrotor unmanned aerial vehicles with a suspended rigid body payload. Assuming that a rigid body is connected to multiple quadrotors by rigid massless links,…

Mars has been a prime candidate for planetary exploration of the solar system because of the science discoveries that support chances of future habitation on this planet. Martian caves and lava tubes like terrains, which consists of uneven…

To reduce CO2 emissions and tackle increasing fuel costs, the aviation industry is swiftly moving towards the electrification of aircraft. From the viewpoint of systems and control, a key challenge brought by this transition corresponds to…

Humanoids are versatile robotic platforms owing to their limbs with multiple degrees of freedom. Although humanoids can walk like humans, they are relatively slow, and cannot run over large barriers. To address these limitations, we aim to…

A mini scale helicopter exhibits not only increased sensitivity to control inputs and disturbances, but also higher bandwidth of its dynamics. These properties make model helicopters, as a flying robot, more difficult to control. The…

In this paper, we study the control design of an automatic crosswind stabilization system for a novel, buoyantly-assisted aerial transportation vehicle. This vehicle has several advantages over other aircraft including the ability to…