相关论文: Correction to Euler Lagrange Multirotor Model with…
Euler angles determining rotations of a system as a whole are conveniently separated in three-particle basis functions. Analytic integration of matrix elements over Euler angles is done in a general form. Results for the Euler angle…
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…
Inspired by flight characteristics captured from live Monarch butterflies, an optimal control problem is presented while accounting the effects of low-frequency flapping and abdomen undulation. A flapping-wing aerial vehicle is modeled as…
It is known that some equations of differential geometry are derived from variational principle in form of Euler-Lagrange equations. The equations of geodesic flow in Riemannian geometry is an example. Conversely, having Lagrangian…
Improving sampling efficiency and generalization capability is critical for the successful data-driven control of quadrotor unmanned aerial vehicles (UAVs) that are inherently unstable. While various reinforcement learning (RL) approaches…
We present the first method to directly use a learned continuous Lagrangian to forecast the dynamics of systems governed by partial differential equations, exploiting the inherent conservative structure to achieve stable long-range…
The main objective of this paper is to present a general mathematical model and an associated numerical algorithm applicable to an arbitrary fixed-wing fixed-mass aircraft undergoing an arbitrary maneuver, based on the 3D nonlinear coupled…
We develop a systematic information-theoretic framework for quantification and mitigation of error in probabilistic Lagrangian (i.e., path-based) predictions which are obtained from dynamical systems generated by uncertain (Eulerian) vector…
We study the global wellposedness of pressure-less Eulerian dynamics in multi-dimensions, with radially symmetric data. Compared with the 1D system, a major difference in multi-dimensional Eulerian dynamics is the presence of the spectral…
This is a survey highlighting several recent results concerning well/ill posedness of the Euler system of gas dynamics. Solutions of the system are identified as limits of consistent approximations generated either by physically more…
Stable concurrent learning and control of dynamical systems is the subject of adaptive control. Despite being an established field with many practical applications and a rich theory, much of the development in adaptive control for nonlinear…
We consider the Euler equations of incompressible inviscid fluid dynamics. We discuss a variational formulation of the governing equations in Lagrangian coordinates. We compute variational symmetries of the action functional and generate…
This paper addresses the problem of designing a trajectory tracking control law for a quadrotor UAV, subsequent to complete failure of a single rotor. The control design problem considers the reduced state space which excludes the angular…
This paper invented a new rolling control mechanism of two section articulated-wing ornithopter, which is analogues to aileron control in plane, however, similar control mechanism leads to opposite result, indicating the ornithopter…
We present the Euler--Langrage equations for a many-body system of coupled planar pendulums. Hence, imposing initial condition data, the equations of motion are linearized and later developed in an idealized model for the pseudo-periodicity…
Euler-Lagrange equations and variational integrators are developed for Lagrangian mechanical systems evolving on a product of two-spheres. The geometric structure of a product of two-spheres is carefully considered in order to obtain global…
The article introduces a method to learn dynamical systems that are governed by Euler--Lagrange equations from data. The method is based on Gaussian process regression and identifies continuous or discrete Lagrangians and is, therefore,…
Acceleration-commanded guidance laws (e.g., proportional navigation) are attractive for high-level decision making, but their direct deployment on fixed-wing UAVs is challenging because accelerations are not directly actuated and must be…
Exact solutions are found for Euler's equations of rigid body motion for general asymmetrical bodies under the influence of torque by using Jacobi elliptic functions. Differential equations are determined for the amplitudes and the…
This article presents an extension of the Lagrange-Poincare Equations (LPE) to model the dynamics of spacecraft-manipulator systems operating within a non-inertial orbital reference frame. Building upon prior formulations of LPE for…