相关论文: Fault Detection and Tolerant Control for Aero2 2D0…
Mobile robots, becoming increasingly autonomous, are capable of operating in diverse and unknown environments. This flexibility allows them to fulfill goals independently and adapting their actions dynamically without rigidly predefined…
Vehicle platoon often face the problem of lack of scalability of maneuvers in practical applications. Once a new scenario is added, the original program may no longer be available. To deal with this problem, this paper introduces a…
Many multirotor Unmanned Aerial Systems applications have a critical need for precise position control in environments with strong dynamic external disturbances such as wind gusts or ground and wall effects. Moreover, to maximize flight…
A tracking controller for unmanned aerial vehicles (UAVs) is developed to track moving targets undergoing unknown translational and rotational motions. The main challenges are to control both the relative positions and angles between the…
Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the…
The pervasive integration of Unmanned Aerial Vehicles (UAVs) across multifarious domains necessitates a nuanced understanding of control methodologies to ensure their optimal functionality. This exhaustive review meticulously examines two…
The demand for accurate and fast trajectory tracking for multirotor Unmanned Aerial Vehicles (UAVs) have grown recently due to advances in UAV avionics technology and application domains. In many applications, the multirotor UAV is required…
Search and rescue (SAR) missions require reliable search methods to locate survivors, especially in challenging or inaccessible environments. This is why introducing unmanned aerial vehicles (UAVs) can be of great help to enhance the…
To participate in the Outback Medical Express UAV Challenge 2016, a vehicle was designed and tested that can hover precisely, take-off and land vertically, fly fast forward efficiently and use computer vision to locate a person and a…
This paper addresses the problem of controlling multiple unmanned aerial vehicles (UAVs) cooperating in a formation to carry out a complex task such as surface inspection. We first use the virtual leader-follower model to determine the…
The maximum safe flight speed of a Unmanned Aerial Vehicle (UAV) is an important indicator for measuring its efficiency in completing various tasks. This indicator is influenced by numerous parameters such as UAV localization error,…
Co-design optimisation of autonomous systems has emerged as a powerful alternative to sequential approaches by jointly optimising physical design and control strategies. However, existing frameworks often neglect the robustness required for…
This paper presents a fault-tolerant control for the trajectory tracking of autonomous underwater vehicles (AUVs) against thruster failures. We formulate faults in AUV thrusters as discrete switching events during a UAV mission, and develop…
The use of unmanned aerial vehicles (UAVs) that serve as aerial base stations is expected to become predominant in the next decade. However, in order for this technology to unfold its full potential it is necessary to develop a fundamental…
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 this work, an $H_{\infty}$ performance fault recovery control problem for a team of multi-agent systems that is subject to actuator faults is studied. Our main objective is to design a distributed control reconfiguration strategy such…
In order to further expand the flight envelope of quadrotors under actuator failures, we design a nonlinear sensor-based fault-tolerant controller to stabilize a quadrotor with failure of two opposing rotors in the high-speed flight…
Computational aerodynamic analyses of rotorcraft main rotor blades are performed in both hover and forward flight. The open-source SU2 code is used for rotor performance prediction. The core of the code is the set of RANS equations, which…
Reliable helipad detection is essential for Autonomous Aerial Vehicle (AAV) landing, especially under GPS-denied or visually degraded conditions. While modern detectors such as YOLOv8 offer strong baseline performance, single-model…
A rotorcraft-based unmanned aerial vehicle exhibits more complex properties compared to its full-size counterparts due to its increased sensitivity to control inputs and disturbances and higher bandwidth of its dynamics. As an aerial…