相关论文: Geometric Tracking Control of a Multi-rotor UAV fo…

Accurate localization of maritime targets by unmanned aerial vehicles (UAVs) remains challenging in GPS-denied environments. UAVs equipped with gimballed electro-optical sensors are typically used to localize targets, however, reliance on…

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…

With the increasing prevalence of drones in various industries, the navigation and tracking of unmanned aerial vehicles (UAVs) in challenging environments, particularly GNSS-denied areas, have become crucial concerns. To address this need,…

This paper presents a robust tracking controller for tracking curvature-constrained paths by vehicles/robots with uncertain Dubins dynamics. Although Dubins paths have been widely used in vehicular and robotic applications, robust and…

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…

Unmanned aerial vehicle (UAV) use continues to increase, including operating beyond line of sight in unknown environments where the vehicle must autonomously generate a trajectory to safely navigate. In this article, we develop a trajectory…

This paper addresses the problem of thrust estimation and control for the rotors of small-sized multirotors Uncrewed Aerial Vehicles (UAVs). Accurate control of the thrust generated by each rotor during flight is one of the main challenges…

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…

A novel framework is proposed for the trajectory design of multiple unmanned aerial vehicles (UAVs) based on the prediction of users' mobility information. The problem of joint trajectory design and power control is formulated for…

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…

Aerial manipulators are composed of an aerial multi-rotor that is equipped with a 6-DOF servo robot arm. To achieve precise position and attitude control during the arm's motion, it is critical for the system to have high performance…

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)…

We propose a high-level planner for a multirotor to chase a ground vehicle, while simultaneously respecting various state and input constraints. Assuming a minimal kinematic model for the ground vehicle, we use data collected online to…

Efficient real-time trajectory planning and control for fixed-wing unmanned aerial vehicles is challenging due to their non-holonomic nature, complex dynamics, and the additional uncertainties introduced by unknown aerodynamic effects. In…

This work addresses the problem of designing a visual servo controller for a multirotor vehicle, with the end goal of tracking a moving spherical target with unknown radius. To address this problem, we first transform two bearing…

Conventional multi-rotors are under-actuated systems, hindering them from independently controlling attitude from position. In this study, we present several distinct configurations that incorporate additional control inputs for…

This paper investigates the problem of traffic surveillance using an unmanned aerial vehicle (UAV) and proposes a domain-knowledge-aided airborne ground moving targets tracking algorithm. To improve the accuracy of multiple targets…

This paper proposes a distributed guiding-vector-field (DGVF) controller for cross-domain unmanned systems (CDUSs) consisting of heterogeneous unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs), to achieve coordinated…

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…

The paper solves the problem of tracking control of a quadrotor with unmeasurable pitch and roll angles based on the geometric approach with the use of the enhanced extended observer and the internal model. The proposed approach makes it…