相关论文: Fault Detection and Tolerant Control for Aero2 2D0…

Collision detection and recovery for aerial robots remain a challenge because of the limited space for sensors and local stability of the flight controller. We introduce a novel collision-resilient quadrotor that features a compliant arm…

Robust and accurate navigation is critical for Unmanned Aerial Vehicles (UAVs) especially for those with stringent Size, Weight, and Power (SWaP) constraints. However, most state-of-the-art (SOTA) LiDAR-Inertial Odometry (LIO) systems still…

Obstacle avoidance in unmanned aerial vehicles (UAVs), as a fundamental capability, has gained increasing attention with the growing focus on spatial intelligence. However, current obstacle-avoidance methods mainly depend on limited…

Learn-to-Fly (L2F) is a new framework that aims to replace the traditional iterative development paradigm for aerial vehicles with a combination of real-time aerodynamic modeling, guidance, and learning control. To ensure safe learning of…

The mechanical simplicity, hover capabilities, and high agility of quadrotors lead to a fast adaption in the industry for inspection, exploration, and urban aerial mobility. On the other hand, the unstable and underactuated dynamics of…

In this paper, we design a reliable Heliquad and develop an intelligent controller to handle one actuators complete failure. Heliquad is a multi-copter similar to Quadcopter, with four actuators diagonally symmetric from the center. Each…

Unmanned Aerial Vehicles (UAVs) have been emerging as an effective solution for IoT data collection networks thanks to their outstanding flexibility, mobility, and low operation costs. However, due to the limited energy and uncertainty from…

Improving sampling efficiency and generalization capability is critical for the successful data-driven control of quadrotor unmanned aerial vehicles (UAVs) that are inherently unstable. While various reinforcement learning (RL) approaches…

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…

In this paper we investigate the design of an active fault tolerant control system applicable to autonomous flight. The system comprises a nonlinear model predictive based controller integrated with an unscented Kalman filter for fault…

Unmanned aerial vehicles (UAVs) have become very popular for many military and civilian applications including in agriculture, construction, mining, environmental monitoring, etc. A desirable feature for UAVs is the ability to navigate and…

Unplanned engine failures in helicopters can lead to severe operational disruptions, safety hazards, and costly repairs. To mitigate these risks, this study compares two predictive maintenance strategies for helicopter engines: a supervised…

A desirable property in fault-tolerant controllers is adaptability to system changes as they evolve during systems operations. An adaptive controller does not require optimal control policies to be enumerated for possible faults. Instead it…

We propose a control protocol based on the prescribed performance control (PPC) methodology for a quadrotor unmanned aerial vehicle (UAV). Quadrotor systems belong to the class of underactuated systems for which the original PPC methodology…

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…

Unmanned Aerial Vehicles (UAVs) or drones are being introduced in a wide range of commercial applications. This has also made them prime targets of attackers who compromise their fundamental security properties, including confidentiality,…

The periodic inspection of vessels is a fundamental task to ensure their integrity and avoid maritime accidents. Currently, these inspections represent a high cost for the ship owner, in addition to the danger that this kind of hostile…

This paper provides new results for a robust adaptive tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid…

Atmospheric flight phase of a launch vehicle is utilized to evaluate the performance of an H-infinity controller in the presence of disturbances. Dynamics of the vehicle is linearly modeled using time-varying parameters. An operating point…

Quadruped robots have strong adaptability to extreme environments but may also experience faults. Once these faults occur, robots must be repaired before returning to the task, reducing their practical feasibility. One prevalent concern…