相关论文: A Generalized Thrust Estimation and Control Approa…

Aerial robots are required to remain operational even in the event of system disturbances, damages, or failures to ensure resilient and robust task completion and safety. One common failure case is propeller damage, which presents a…

Rotors operating in confined flows, or blockage, are commonly encountered in wind and water tunnels, as well as in shallow or dense deployments of hydrokinetic turbines. Confinement induces a streamwise pressure gradient in the channel,…

A perception-aware Nonlinear Model Predictive Control (NMPC) strategy aimed at performing vision-based target tracking and collision avoidance with a multi-rotor aerial vehicle is presented in this paper. The proposed control strategy…

This paper presents a novel quaternion-based nonsingular control system for underactuated vertical-take-off and landing (VTOL) Unmanned Aerial Vehicles (UAVs). Position and attitude tracking is challenging regarding singularity and…

As the number of Unmanned Aerial Vehicles (UAVs) operating in low-altitude airspace continues to increase, non-cooperative targets pose growing challenges to low-altitude operations. To address this issue, this paper proposes a…

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…

This paper investigates an adaptive sliding-mode control for an integrated UAV autopilot and guidance system. First, a two-dimensional mathematical model of the system is derived by considering the incorporated lateral dynamics and relative…

Unmanned aerial vehicle (UAV) tracking is critical for applications like surveillance, search-and-rescue, and autonomous navigation. However, the high-speed movement of UAVs and targets introduces unique challenges, including real-time…

Multiple multirotor Micro Aerial Vehicles sharing the same airspace require a reliable and robust collision avoidance technique. In this paper we address the problem of multi-MAV reactive collision avoidance. A model-based controller is…

Jet-powered vertical takeoff and landing (VTOL) drones require precise thrust estimation to ensure adequate stability margins and robust maneuvering. Small-scale turbojets have become good candidates for powering heavy aerial drones.…

This paper presents a method to recover quadrotor UAV from a throw, when no control parameters are known before the throw. We leverage the availability of high-frequency rotor speed feedback available in racing drone hardware and software…

Unmanned aerial vehicles (UAVs) are finding use in applications that place increasing emphasis on robustness to external disturbances including extreme wind. However, traditional multirotor UAV platforms do not directly sense wind;…

This paper presents a study on the backstepping control of tendon-driven continuum robots for large deflections using the Cosserat rod model. Continuum robots are known for their flexibility and adaptability, making them suitable for…

Acceleration-commanded guidance laws (e.g., proportional navigation) are attractive for high-level decision making, but their direct deployment on fixed-wing UAVs is challenging because accelerations are not directly actuated and must be…

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…

Multi-rotor UAVs face limited flight time due to battery constraints. Autonomous docking on blimps with onboard battery recharging and data offloading offers a promising solution for extended UAV missions. However, the vulnerability of…

In comparison to common quadrotors, the shape change of morphing quadrotors endows it with a more better flight performance but also results in more complex flight dynamics. Generally, it is extremely difficult or even impossible for…

In the paper "Control Design for UAV Quadrotors via Embedded Model Control" [1], the authors designed a complete control unit for a UAV Quadrotor, based on the Embedded Model Control (EMC) methodology, in combination with the Feedback…

The flight time of multirotor unmanned aerial vehicles (UAVs) is typically constrained by their high power consumption. Tethered power systems present a viable solution to extend flight times while maintaining the advantages of multirotor…

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…