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

We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…

While deep reinforcement learning (RL) methods have achieved unprecedented successes in a range of challenging problems, their applicability has been mainly limited to simulation or game domains due to the high sample complexity of the…

This paper presents a novel design for finite-time position control of quadrotor Unmanned Aerial Vehicles (UAVs). A robust, finite-time, nonlinear feedback controller is introduced to reject bounded disturbances in tracking tasks. The…

This is a complementary document to the paper presented in [1], to provide more detailed proofs for some results. The main paper addresses the problem of trajectory tracking control of autonomous rotorcraft in operation scenarios where only…

This work addresses the problem of robust attitude control of quadcopters. First, the mathematical model of the quadcopter is derived considering factors such as nonlinearity, external disturbances, uncertain dynamics and strong coupling.…

This paper addresses the problem of tracking control for robotic vehicles equipped with pivoted unidirectional actuators. Starting from a baseline robust controller that assumes unconstrained inputs, we redesign the control law to be…

With the advent of intelligent transport, quadrotors are becoming an attractive solution while lifting or dropping payloads during emergency evacuations, construction works, etc. During such operations, dynamic variations in (possibly…

Over the past several decades there has been a constant increase in the use of Unmanned Aerial Systems (UAS). Hence, there has also been a growth in the number of control algorithms to service the many applications embodied by these…

This paper investigates the position-tracking control problem for fixed-wing unmanned aerial vehicles (UAVs) equipped with a turbojet engine via an integrated flight and propulsion control scheme. To this end, a hierarchical control…

We present a new stability proof for cascaded geometric control used by aerial vehicles tracking time-varying position trajectories. Our approach uses sliding variables and a recently proposed quaternion-based sliding controller to…

This paper proposes a novel control law for accurate tracking of agile trajectories using a tailsitter flying wing unmanned aerial vehicle (UAV) that transitions between vertical take-off and landing (VTOL) and forward flight. The global…

This work addresses the practical problem of distributed formation tracking control of a group of quadrotor vehicles in a relaxed sensing graph topology with a very limited sensor set, where only one leader vehicle can access the global…

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.…

In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…

This paper participates in the development of a unified approach to the control of aerial vehicles with extended flight envelopes. More precisely, modeling for control purposes of a class of thrust-propelled aerial vehicles subjected to…

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…

Research on Multi-rotor Aerial Vehicles (MAVs) has experienced remarkable advancements over the past two decades, propelling the field forward at an accelerated pace. Through the implementation of motion control and the integration of…

Achieving precise lateral motion modeling and decoupled control in hover remains a significant challenge for tail-sitter Unmanned Aerial Vehicles (UAVs), primarily due to complex aerodynamic couplings and the absence of welldefined lateral…

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 work addresses the landing problem of an aerial vehicle, exemplified by a simple quadrotor, on a moving platform using image-based visual servo control. First, the mathematical model of the quadrotor aircraft is introduced, followed by…