相关论文: Full-Envelope Flight Control for Compound Vertical…
This paper presents a control strategy based on dual quaternions for the coordinated formation flying of small UAV groups. A virtual structure is employed to define the desired formation, enabling unified control of its position,…
This paper presents a framework for controlled emergency landing of a quadcopter, experiencing a rotor failure, away from sensitive areas. A complete mathematical model capturing the dynamics of the system is presented that takes the…
Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…
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 work develops a unified optimal control framework for a Quadrotor Biplane tailsitter UAV capable of operating seamlessly across hover, transition, and cruise flight regimes. Although the tailsitter configuration enables mechanically…
We present a novel vision-based control method to make a group of ground mobile robots achieve a specified formation shape with unspecified size. Our approach uses multiple aerial control units equipped with downward-facing cameras, each…
In this paper, we developed a generalized simulation framework for the evaluation of electric vertical takeoff and landing vehicles (eVTOLs) in the context of Unmanned Aircraft Systems (UAS) Traffic Management (UTM) and under the concept of…
Control systems on unmanned vehicles are safety-critical systems whose requirements on reliability and safety are ever-increasing. Currently, testing a complex autonomous control system is an expensive and time-consuming process, which…
In the last decade, autonomous vertical take-off and landing (VTOL) vehicles have become increasingly important as they lower mission costs thanks to their re-usability. However, their development is complex, rendering even the basic…
In this paper, a distributed formation flight control topology for Leader-Follower formation structure is presented. Such topology depends in the first place on online generation of the trajectories that should be followed by the agents in…
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 controlling systems with large operating envelopes, it is often necessary to adjust the desired dynamics according to operating conditions. This paper presents a robust adaptive control architecture for linear parameter-varying (LPV)…
Nowadays, the application of fully autonomous system like rotary wing unmanned air vehicles (UAVs) is increasing sharply. Due to the complex nonlinear dynamics, a huge research interest is witnessed in developing learning machine based…
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 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…
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 investigates an adaptive sliding-mode control for an integrated UAV autopilot and guidance system. First, a two-dimensional mathematical model of the system is derived by considering the incorporated lateral dynamics and relative…
The emerging low-altitude economy has catalyzed the large-scale deployment of unmanned aerial vehicles (UAVs), driving a paradigm shift in environment monitoring, logistics, and emergency response. However, operating within these…
The paper discusses an intelligent vision-based control solution for autonomous tracking and landing of Vertical Take-Off and Landing (VTOL) capable Unmanned Aerial Vehicles (UAVs) on ships without utilizing GPS signal. The central idea…
Tilt-rotor aerial robots enable omnidirectional maneuvering through thrust vectoring, but introduce significant control challenges due to the strong coupling between joint and rotor dynamics. While model-based controllers can achieve high…