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

We consider a motorized aircraft tethered to a central anchorage point in a configuration similar to a control line model airplane. For this system, we address the problem of automatic take-off and landing (ATOL) with a circular path, whose…

This paper addresses the path following control problem for scale-model fixed-wing aircraft. Kinematic guidance and dynamic control laws are developed within a single coherent framework that exploits a simple generic model of aerodynamics…

Controlling UAV flights precisely requires a realistic dynamic model and accurate state estimates from onboard sensors like UAV, GPS and visual observations. Obtaining a precise dynamic model is extremely difficult, as important aerodynamic…

Unmanned aerial vehicle (UAV) tracking is critical for applications like surveillance, search-and-rescue, and autonomous navigation. However, the high-speed movement of UAVs and targets introduces unique challenges, including real-time…

This work presents a geometric backstepping controller for a variable-tilt omnidirectional multirotor that explicitly accounts for both servo and rotor dynamics. Considering actuator dynamics is essential for more effective and reliable…

A system of cooperative unmanned aerial vehicles (UAVs) is a group of agents interacting with each other and the surrounding environment to achieve a specific task. In contrast with a single UAV, UAV swarms are expected to benefit…

The widespread use of unmanned aerial vehicles (UAVs) by the military, commercial companies, and academia continues to push research for autonomous vehicle navigation, particularly in varying environmental conditions and…

Capabilities of long-range flight and vertical take-off and landing (VTOL) are essential for Urban Air Mobility (UAM). Tiltrotor VTOLs have the advantage of balancing control simplicity and system complexity due to their redundant control…

New quadrotor UAV control algorithms are developed, based on nonlinear surfaces composed of tracking errors that evolve directly on the nonlinear configuration manifold, thus inherently including in the control design the nonlinear…

This paper presents a new flight control framework for tilt-rotor multirotor uncrewed aerial vehicles (MRUAVs). Tiltrotor designs offer full actuation but introduce complexity in control allocation due to actuator redundancy. We propose a…

Groups of unmanned aerial vehicles (UAVs) are increasingly utilized in transportation task as the combined strength allows to increase the maximum payload. However, the resulting mechanical coupling of the UAVs impose new challenges in…

Vehicle control is one of the most critical challenges in autonomous vehicles (AVs) and connected and automated vehicles (CAVs), and it is paramount in vehicle safety, passenger comfort, transportation efficiency, and energy saving. This…

This paper focuses on dynamic control allocation for a hexarotor UAV platform, considering a trajectory tracking task as as case study. It is assumed that the platform is dual-tilting, meaning that it is able to tilt each propeller…

Unmanned Aerial Vehicles (UAVs) are now becoming increasingly accessible to amateur and com-mercial users alike. Several types of airspace structures are proposed in recent research, which include several structured free flight concepts. In…

This paper presents a constraint-aware control framework for underactuated aerial manipulators, enabling accurate end-effector trajectory tracking while explicitly accounting for safety and feasibility constraints. The control problem is…

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…

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…

As roles for unmanned aerial vehicles (UAV) continue to diversify, the ability to sense and interact closely with the environment becomes increasingly important. Within this paper we report on the initial flight tests of a novel adaptive…

This paper carries out the mathematical modeling, simulation, and control law design for a quadrotor with variable-pitch propellers. The use of variable-pitch propeller for thrust variation instead of RPM regulation facilitates generation…

All practical systems often pose a problem of finite control capability, which can notably degrade the performance if not properly addressed. Since actuator input bounds are typically known, integrating actuator saturation considerations…