相关论文: Longitudinal dynamic modelling and control for a q…

The relentless pursuit of aircraft flight efficiency has thrust variable-pitch propeller technology into the forefront of aviation innovation. This technology, rooted in the ancient power unit of propellers, has found renewed significance,…

Electric Vertical Takeoff and Landing (eVTOL) vehicles will open new opportunities in aviation. This paper describes the design and wind tunnel analysis of an eVTOL uncrewed aircraft system (UAS) prototype with a traditional aircraft wing,…

A complete model of quadcopter motion for the task of dynamic positioning at a specified point is derived. Based on this model, two control algorithms are proposed. The first one generalizes previously obtained results to the case of a…

Whether for their maneuverability, autonomy or ergonomics, convertible UAVs, meaning those with the ability to take off or land vertically and fly like an airplane, present many interests. However, their dynamics are complicated by various…

We consider a motorized aircraft tethered to a central anchorage point in a configuration similar to a control line model airplane. For this system, we address the problem of automatic take-off and landing (ATOL) with a circular path, whose…

With the characteristics of vertical take-off and landing and long endurance, tiltrotor has attracted considerable attention in recent decades for its potential applications in civil and scientific research. However, the problems of strong…

This paper presents a theoretical study on the ability of multi-rotor aerial vehicles (MRAVs) with tiltable propellers to achieve and sustain static hovering at different orientations. To analyze the ability of MRAVs with tiltable…

Drones have gained popularity in a wide range of field ranging from aerial photography, aerial mapping, and investigation of electric power lines. Every drone that we know today is carrying out some kind of control algorithm at the low…

Recently, needs for unmanned aerial vehicles (UAVs) that are attachable to the wall have been highlighted. As one of the ways to address the need, researches on various tilting multirotors that can increase maneuverability has been…

This paper addresses the problem of designing a trajectory tracking control law for a quadrotor UAV, subsequent to complete failure of a single rotor. The control design problem considers the reduced state space which excludes the angular…

Proportional-Integral-Derivative (PID) scheme is the most commonly used algorithm for designing the controllers for unmanned aerial vehicles (UAVs). However, tuning PID gains is a non trivial task. A number of methods have been developed…

Three challenges, however, can hinder the application of Feedback Linearization: over-intensive control signals, singular decoupling matrix, and saturation. Activating any of these three issues can challenge the stability proof. To solve…

In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…

This paper presents a review of the design and application of model predictive control strategies for Micro Aerial Vehicles and specifically multirotor configurations such as quadrotors. The diverse set of works in the domain is organized…

This work addresses the landing problem of an aerial vehicle, exemplified by a simple quadrotor, on a moving platform using image-based visual servo control. First, the mathematical model of the quadrotor aircraft is introduced, followed by…

This paper presents a static-equilibrium oriented interaction force modeling and control approach of aerial manipulation employing uni-directional thrust (UDT) multirotors interacting with variously defined environments. First, a simplified…

This paper investigates a hybrid compositional approach to optimal mission planning for multi-rotor Unmanned Aerial Vehicles (UAVs). We consider a time critical search and rescue scenario with two quadrotors in a constrained environment.…

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…

This paper aims to develop a Fault Tolerant Control (FTC) architecture, for the case of a damaged actuator for a multirotor UAV that can be applied across multirotor platforms based on their Attainable Virtual Control Set (AVCS). The…

Contemporary autopilot systems for unmanned aerial vehicles (UAVs) are far more limited in their flight envelope as compared to experienced human pilots, thereby restricting the conditions UAVs can operate in and the types of missions they…