相关论文: Attainable Force Approximation and Full-Pose Track…

This paper proposes a novel quaternion-based approach for tracking the translation (position and linear velocity) and rotation (attitude and angular velocity) trajectories of underactuated Unmanned Aerial Vehicles (UAVs). Quadrotor UAVs are…

In various industrial sectors, inspection and maintenance tasks using UAV (Unmanned Aerial Vehicle) require substantial force application to ensure effective adherence and stable contact, posing significant challenges to existing solutions.…

Overactuated Tilt Rotor Unmanned Aerial Vehicles are renowned for exceptional wind resistance and a broad operational range, which poses complex control challenges due to non-affine dynamics. Traditional solutions employ multi-state…

This paper presents a solution for the state estimation and control problems for a class of unconventional vertical takeoff and landing (VTOL) UAVs operating in forward-flight conditions. A tightly-coupled state estimation approach is used…

Fin actuators can be used for for both thrust generation and vectoring. Therefore, fin-driven autonomous underwater vehicles (AUVs) can achieve high maneuverability with a smaller number of actuators, but their control is challenging. This…

This study aims to design a motion/force controller for an aerial manipulator which guarantees the tracking of time-varying motion/force trajectories as well as the stability during the transition between free and contact motions. To this…

In this paper we address the control problem of aerial cable suspended load transportation, using multiple Unmanned Aerial Vehicles (UAVs). First, the dynamical model of the coupled system is obtained using the Newton-Euler formalism, for…

There is a great demand for vision-based robotics solutions that can operate using Global Positioning Systems (GPS), but are also robust against GPS signal loss and gyroscope failure. This paper investigates the estimation and tracking…

Propeller failure is a major cause of multirotor Unmanned Aerial Vehicles (UAVs) crashes. While conventional multirotor systems struggle to address this issue due to underactuation, over-actuated platforms can continue flying with…

Hybrid unmanned aerial vehicles (UAVs) integrate the efficient forward flight of fixed-wing and vertical takeoff and landing (VTOL) capabilities of multicopter UAVs. This paper presents the modeling, control and simulation of a new type of…

In this paper we propose an effective vision-based navigation method that allows a multirotor vehicle to simultaneously reach a desired goal pose in the environment while constantly facing a target object or landmark. Standard techniques…

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…

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 focus of this paper is an integrated, fault-tolerant vehicle supervisory control algorithm for the overall stability of ground vehicles. Vehicle control systems contain many sensors and actuators that can communicate with each other…

A novel active fault-tolerant control (AFTC) scheme for a dual-system vertical takeoff and landing (VTOL) unmanned aerial vehicle (UAV) during transition flight is proposed in this paper. The AFTC scheme is composed of a baseline control…

Object tracking has been broadly applied in unmanned aerial vehicle (UAV) tasks in recent years. However, existing algorithms still face difficulties such as partial occlusion, clutter background, and other challenging visual factors.…

Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…

Though control algorithms for multirotor Unmanned Air Vehicle (UAV) are well understood, the configuration, parameter estimation, and tuning of flight control algorithms takes quite some time and resources. In previous work, we have shown…

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…

Offering vertical take-off and landing (VTOL) capabilities and the ability to travel great distances are crucial for Urban Air Mobility (UAM) vehicles. These capabilities make hybrid VTOLs the clear front-runners among UAM platforms. On the…