相关论文: Challenges in Controllers on UAV Aircraft: Theory …

Three challenges, however, can hinder the application of Feedback Linearization: over-intensive control signals, singular decoupling matrix, and saturation. Activating any of these three issues can challenge the stability proof. To solve…

This paper deals with the dynamics and controls of a quadrotor unmanned aerial vehicle that is connected to a fixed point on the ground via a tether. Tethered quadrotors have been envisaged for long-term aerial surveillance with high-speed…

Tilt rotor aircraft combine the benefits of both helicopters and fixed wing aircraft, this makes them popular for a variety of applications, including Search and Rescue and VVIP transport. However, due to the multiple flight modes,…

Enabling vertical take-off and landing while providing the ability to fly long ranges opens the door to a wide range of new real-world aircraft applications while improving many existing tasks. Tiltrotor vertical take-off and landing (VTOL)…

This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to many existing control strategies, which do not consider…

This paper is an addition to an article previously published by three of the authors that addresses the control of convertible fixed-wing aircraft with vectorized thrust. The control solution here developed extends the one presented in the…

This paper presents a trajectory-tracking controller for multi-rotor unmanned aerial vehicles (UAVs) in scenarios where only the desired position and heading are known without the higher-order derivatives. The proposed solution modifies the…

The pervasive integration of Unmanned Aerial Vehicles (UAVs) across multifarious domains necessitates a nuanced understanding of control methodologies to ensure their optimal functionality. This exhaustive review meticulously examines two…

This paper provides nonlinear tracking control systems for a quadrotor unmanned aerial vehicle (UAV) that are robust to bounded uncertainties. A mathematical model of a quadrotor UAV is defined on the special Euclidean group, and nonlinear…

This paper presents the mathematical modeling, controller design, and flight-testing of an over-actuated Vertical Take-off and Landing (VTOL) tiltwing Unmanned Aerial Vehicle (UAV). Based on simplified aerodynamics and first-principles, a…

Aerial manipulator, which is composed of an UAV (Unmanned Aerial Vehicle) and a multi-link manipulator and can perform aerial manipulation, has shown great potential of applications. However, dynamic coupling between the UAV and the…

A tracking controller for unmanned aerial vehicles (UAVs) is developed to track moving targets undergoing unknown translational and rotational motions. The main challenges are to control both the relative positions and angles between the…

Hybrid unmanned aircraft can significantly increase the potential of micro air vehicles, because they combine hovering capability with a wing for fast and efficient forward flight. However, these vehicles are very difficult to control,…

This paper presents the development of a comprehensive dynamics and stabilizing control architecture for Tethered Unmanned Aerial Vehicle (TUAV) systems. The proposed architecture integrates both onboard and ground-based controllers,…

Quadcopters are increasingly used for applications ranging from hobby to industrial products and services. This paper serves as a tutorial on the design, simulation, implementation, and experimental outdoor testing of digital quadcopter…

Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the…

The expectation of unmanned air vehicles (UAVs) pushes the operation environment to narrow spaces, where the systems may fly very close to an object and perform an interaction. This phase brings the variation in UAV dynamics: thrust and…

This paper provides new results for control of complex flight maneuvers for a quadrotor unmanned aerial vehicle (UAV). The flight maneuvers are defined by a concatenation of flight modes or primitives, each of which is achieved by a…

This paper investigates the coordinated trajectory tracking problem of multiple vertical takeooff and landing (VTOL) unmanned aerial vehicles (UAVs). The case of unidirectional information flow is considered and the objective is to drive…

This paper addresses the design and application controller for a small-size unmanned aerial vehicle (UAV). In this work, the main objective is to study the modeling and attitude controller design for a small size helicopter. Based on a…