相关论文: Modeling and Controls of Fluid-Structure Interacti…
The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…
A complete, self-contained mathematical framework for modelling the coupled aeroelastic and flight dynamic behaviour of free-flying flexible aircraft subject to atmospheric gust encounters is presented. The framework integrates three…
Plants live in constantly moving fluid, whether air or water. In response to the loads associated with fluid motion, plants bend and twist, often with great amplitude. These large deformations are not found in traditional engineering…
Solid-fuel ramjets offer a compact, energy-dense propulsion option for long-range, high-speed flight but pose significant challenges for thrust regulation due to strong nonlinearities, limited actuation authority, and complex multi-physics…
We propose a scalable cooperative control approach which coordinates a group of rigidly connected autonomous surface vessels to track desired trajectories in a planar water environment as a single floating modular structure. Our approach…
Inverted landing in a rapid and robust manner is a challenging feat for aerial robots, especially while depending entirely on onboard sensing and computation. In spite of this, this feat is routinely performed by biological fliers such as…
This paper presents a formation control approach for contactless gesture-based Human-Swarm Interaction (HSI) between a team of multi-rotor Unmanned Aerial Vehicles (UAVs) and a human worker. The approach is designed to monitor the safety of…
We consider a Navier-Stokes fluid-plate interaction (FSI) system which describes the evolutions of the fluid contained within a 3D cavity, as it interacts with a deformable elastic membrane on the ``free" upper boundary of the cavity. These…
This paper participates in the development of a unified approach to the control of aerial vehicles with extended flight envelopes. More precisely, modeling for control purposes of a class of thrust-propelled aerial vehicles subjected to…
Birds in nature perform perching not only for rest but also for interaction with human such as the relationship with falconers. Recently, researchers achieve perching-capable aerial robots as a way to save energy, and deformable structure…
Flapping Wing Micro Air Vehicles (FWMAV) are highly manoeuvrable, bio-inspired drones that can assist in surveys and rescue missions. Flapping wings generate various unsteady lift enhancement mechanisms challenging the derivation of reduced…
In this paper, we present a novel and generic data-driven method to servo-control the 3-D shape of continuum and soft robots embedded with fiber Bragg grating (FBG) sensors. Developments of 3-D shape perception and control technologies are…
Natural fliers like bats exploit the complex fluid-structure interaction between their flexible membrane wings and the air with great ease. Yet, replicating and scaling the balance between the structural and fluid-dynamical parameters of…
We propose a multibody model of a freewing UAV. This model allows obtaining simulations of the UAV's behaviour and, in the future, to design a control law stabilising the entire flight envelope (hovering and forward flight). We also…
In this paper, the coordinated control problem of deformation and flight for morphing aircraft (MA) is studied by using meta-learning (ML) and coupled state-dependent Riccati equations (CSDREs). Our method is built on two principal…
Quadrotors have demonstrated remarkable versatility, yet their full aerobatic potential remains largely untapped due to inherent underactuation and the complexity of aggressive maneuvers. Traditional approaches, separating trajectory…
Aerial manipulation for safe physical interaction with their environments is gaining significant momentum in robotics research. In this paper, we present a disturbance-observer-based safety-critical control for a fully actuated aerial…
The aim of this work is to study the dynamics and stability of soft shape-morphing configurations and specifically the modes of interaction between the front and rear airfoil segments. Initially we present several steady-state solutions,…
Unmanned underwater vehicles are increasingly employed for maintenance and surveying tasks at sea, but their operation in shallow waters is often hindered by hydrodynamic disturbances such as waves, currents, and turbulence. These unsteady…
Accurate and efficient simulation of fluid-structure interaction (FSI) problems remains a central challenge in computational physics. High-order discontinuous Galerkin (DG) methods offer low numerical errors and excellent scalability on…