相关论文: Geometric and Feedback Linearization on UAV: Revie…

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 feedback linearization method is further developed for the controller design on general nonlinear systems. Through the Lyapunov stability theory, the intractable nonlinear implicit algebraic control equations are effectively solved, and…

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 review explores the theoretical foundations and experimental dynamics of modern tiltrotor aircraft. Emphasizing feedback linearization, the study delves into the distinctive constraints and angular velocity ranges shaping tiltrotor…

In the paper "Control Design for UAV Quadrotors via Embedded Model Control" [1], the authors designed a complete control unit for a UAV Quadrotor, based on the Embedded Model Control (EMC) methodology, in combination with the Feedback…

Unmanned aerial vehicles (UAVs) have gained great interest for rapid deployment in both civil and military applications. UAV communication has its own distinctive channel characteristics compared with widely used cellular and satellite…

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…

Integration of Visual Inertial Odometry (VIO) methods into a modular control system designed for deployment of Unmanned Aerial Vehicles (UAVs) and teams of cooperating UAVs in real-world conditions are presented in this paper. Reliability…

In this paper a geometric approach to the trajectory tracking control of Unmanned Aerial Vehicles with thrust vectoring capabilities is proposed. The control design is suitable for aerial systems that allow to effectively decouple position…

Unmanned Aerial Vehicles (UAVs) are indispensable for infrastructure inspection, surveillance, and related tasks, yet they also introduce critical security challenges. This survey provides a wide-ranging examination of the anti-UAV domain,…

Gesture recognition presents a promising avenue for interfacing with unmanned aerial vehicles (UAVs) due to its intuitive nature and potential for precise interaction. This research conducts a comprehensive comparative analysis of…

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,…

Unmanned Aerial Vehicles (UAVs) are transforming infrastructure inspections in the Architecture, Engineering, Construction, and Facility Management (AEC+FM) domain. By synthesizing insights from over 150 studies, this review paper…

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…

This survey offers a comprehensive overview of recent advancements in LiDAR-based autonomous Unmanned Aerial Vehicles (UAVs), covering their design, perception, planning, and control strategies. Over the past decade, LiDAR technology has…

This dissertation presents nonlinear tracking control systems for quadrotor unmanned aerial vehicles (UAV) under the influence of uncertainties. Assuming that there exist unstructured disturbances in the translational dynamics and the…

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…

This paper addresses the three-dimensional path-following guidance problem for unmanned aerial vehicles under explicit actuator constraints. Unlike conventional approaches that assume unbounded control inputs or handle saturation…

In this paper, an exponentially stable trajectory tracking controller is proposed for multi-UAV payload transport. The multi-UAV payload system has a 2-DOF magnetic spherical joint between the UAVs and the vertical rigid links of the…

This survey article deals with applications of optimal control to aerospace problems with a focus on modern geometric optimal control tools and numerical continuation techniques. Geometric optimal control is a theory combining optimal…