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

Stop-rotor aircraft have long been proposed as the ideal vertical takeoff and landing (VTOL) aircraft for missions with equal time spent in both flight regimes, such as agricultural monitoring, search and rescue, and last-mile delivery.…

This paper presents a new flight control framework for tilt-rotor multirotor uncrewed aerial vehicles (MRUAVs). Tiltrotor designs offer full actuation but introduce complexity in control allocation due to actuator redundancy. We propose a…

Modeling the kinematics and dynamics of robotics systems with suspended loads using dual quaternions has not been explored so far. This paper introduces a new innovative control strategy using dual quaternions for UAVs with cable-suspended…

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…

This is a complementary document to the paper presented in [1], to provide more detailed proofs for some results. The main paper addresses the problem of trajectory tracking control of autonomous rotorcraft in operation scenarios where only…

Turbojet-powered VTOL UAVs have garnered increased attention in heavy-load transport and emergency services, due to their superior power density and thrust-to-weight ratio compared to existing electronic propulsion systems. The main…

This paper presents a mathematic dynamic model of a quadrotor unmanned aerial vehicle (QUAV) by using the symbolic regression approach and then proposes a hierarchical control scheme for trajectory tracking. The symbolic regression approach…

The introduction of fully-actuated multirotors has opened the door to new possibilities and more efficient solutions to many real-world applications. However, their integration had been slower than expected, partly due to the need for new…

This paper considers a collaborative tracking control problem using a group of fixed-wing unmanned aerial vehicles (UAVs) with constant and non-identical speeds. The dynamics of fixed-wing UAVs are modelled by unicycle-type equations with…

While deep reinforcement learning (RL) methods have achieved unprecedented successes in a range of challenging problems, their applicability has been mainly limited to simulation or game domains due to the high sample complexity of the…

This research implements a design for the control of a rotatable stabiliser which, it is proposed, might augment, or fully replace, the conventional control mechanisms for pitch and yaw in certain types of aircraft. The anticipated…

Traditional aerial vehicles are usually custom-designed for specific tasks. Although they offer an efficient solution, they are not always able to adapt to changes in the task specification, e.g., increasing the payload. This applies to…

Airships offer unique operational advantages due to their ability to generate lift via buoyancy, enabling low-speed flight and stationary hovering. These capabilities make them ideal for missions requiring endurance and precision…

In this study, a novel technique for the autonomous visual inspection of rotating wind turbine rotor blades utilizing an unmanned aerial vehicle (UAV) was developed. This approach addresses the challenges presented by the dynamic…

In recent years, autonomous unmanned aerial vehicle (UAV) technology has seen rapid advancements, significantly improving operational efficiency and mitigating risks associated with manual tasks in domains such as industrial inspection,…

This paper presents a framework for controlled emergency landing of a quadcopter, experiencing a rotor failure, away from sensitive areas. A complete mathematical model capturing the dynamics of the system is presented that takes the…

Attitude control of a novel regional truss-braced wing aircraft with low stability characteristics is addressed in this paper using Reinforcement Learning (RL). In recent years, RL has been increasingly employed in challenging applications,…

In this paper, we address the problem of stable coordinated motion in multi-robot systems with limited fields of view (FOVs). These problems arise naturally for multi-robot systems that interact based on sensing, such as our case study of…

Aerial-aquatic vehicles are capable to move in the two most dominant fluids, making them more promising for a wide range of applications. We propose a prototype with special designs for propulsion and thruster configuration to cope with the…

A model-based feasible control strategy for multi-rotor systems is presented, pursuing two control objectives simultaneously: Mechanical loads on the main tower are to be mitigated, and an externally determined power change is to be…