相关论文: Correction to Euler Lagrange Multirotor Model with…

Aerial manipulators (AM) exhibit particularly challenging, non-linear dynamics; the UAV and the manipulator it is carrying form a tightly coupled dynamic system, mutually impacting each other. The mathematical model describing these…

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…

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…

Euler's equation relates the change in angular momentum of a rigid body to the applied torque. This paper fills a gap in the literature by using Lagrangian dynamics to derive Euler's equation in terms of generalized coordinates. This is…

It is challenging to model and control a tail-sitter unmanned aerial vehicle (UAV) because its blended wing body generates complicated nonlinear aerodynamic effects, such as wing lift, fuselage drag, and propeller-wing interactions. We…

This paper presents an alternative way to the dynamic modeling of a rotational inverted pendulum using the classic mechanics known as Euler-Lagrange allows to find motion equations that describe our model. It also has a design of the basic…

In this paper, we study the quadrotor UAV attitude control on SO(3) in the presence of unknown disturbances and model uncertainties. L1 adaptive control for UAVs using Euler angles/quaternions is shown to exhibit robustness and precise…

This paper focuses on the control of a cooperative system composed of an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV) manipulating an object. The two units are subject to input saturations and collaborate to move the…

The development of efficient and robust dynamic models is fundamental in the field of systems and control engineering. In this paper, a new formulation for the dynamic model of nonlinear mechanical systems, that can be applied to different…

This published paper investigates the distributed tracking control problem for a class of Euler-Lagrange multi-agent systems when the agents can only measure the positions. In this case, the lack of the separation principle and the strong…

This paper presents a static-equilibrium oriented interaction force modeling and control approach of aerial manipulation employing uni-directional thrust (UDT) multirotors interacting with variously defined environments. First, a simplified…

Using a generalized coordinate along with a proper invertible coordinate transformation, we show that the Euler-Lagrange equation used by Bagchi et al. 16 is in clear violation of the Hamilton's principle. We also show that Newton's…

This work presents a solution to the adaptive tracking control of Euler Lagrange systems with guaranteed tracking and parameter estimation error convergence. Specifically a concurrent learning based update rule fused by the filtered version…

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…

Equations of motion for a general relativistic post-Newtonian Lagrangian approach mainly refer to acceleration equations, i.e. differential equations of velocities. They are directly from the Euler-Lagrangian equations, and usually have…

Accurate inverse dynamics models are essential tools for controlling industrial robots. Recent research combines neural network regression with inverse dynamics formulations of the Newton-Euler and the Euler-Lagrange equations of motion,…

This paper presents a lifting-wing multirotor UAV that allows long-range flight. The UAV features a lifting wing in a special mounting angle that works together with rotors to supply lift when it flies forward, achieving a reduction in…

Differential equations are derived which show how generalized Euler vector representations of the Euler rotation axis and angle for a rigid body evolve in time; the Euler vector is also known as a rotation vector or axis-angle vector. The…

Quadcopter trajectory tracking control has been extensively investigated and implemented in the past. Available controls mostly use the Euler angle standards to describe the quadcopters rotational kinematics and dynamics. As a result, the…

The energy shaping method, Controlled Lagrangian, is a well-known approach to stabilize the under-actuated Euler Lagrange (EL) systems. In this approach, to construct a control rule, some nonlinear, nonhomogeneous partial differential…