相关论文: Robust Quadcopter Motion Control Using Output Feed…

We establish a separation principle for the output feedback stabilisation of state-affine systems that are observable at the stabilization target. Relying on control templates (recently introduced in [4]), that allow to approximate a…

The paper focuses on modeling and experimental evaluation of a quadcopter team configurable coordination guided by a single quadruped robot. We consider the quadcopter team as particles of a two-dimensional deformable body and propose a…

This paper develops an adaptive digital autopilot for quadcopters and presents experimental results. The adaptive digital autopilot is constructed by augmenting the PX4 autopilot control system architecture with adaptive digital control…

The objective of this research is to enable safety-critical systems to simultaneously learn and execute optimal control policies in a safe manner to achieve complex autonomy. Learning optimal policies via trial and error, i.e., traditional…

We consider controller design for robust output tracking and disturbance rejection for continuous-time periodic linear systems with periodic reference and disturbance signals. As our main results we present four different controllers: A…

Besides parametric uncertainties and disturbances, the unmodeled dynamics and time delay at the input are often present in practical systems, which cannot be ignored in some cases. This paper aims to solve output feedback tracking control…

This paper provides new results for control of complex flight maneuvers for a quadrotor unmanned aerial vehicle (UAV). The flight maneuvers are defined by a concatenation of flight modes or primitives, each of which is achieved by a…

The use of multivalued controls derived from a special maximal monotone operator are studied in this note. Starting with a strictly passive linear system (with possible parametric uncertainty and external disturbances) a multivalued control…

This book provides a solution to the control and motion planning design for an octocopter system. It includes a particular choice of control and motion planning algorithms which is based on the authors' previous research work, so it can be…

This paper enhances the feedback linearization controller for multirotors with a learned acceleration error model and a thrust input delay mitigation model. Feedback linearization controllers are theoretically appealing but their…

We propose an approach for mapping natural language instructions and raw observations to continuous control of a quadcopter drone. Our model predicts interpretable position-visitation distributions indicating where the agent should go…

This paper presents the development of a sliding mode controller using the backstepping approach. The controller is employed to synthesize tracking errors and Lyapunov functions. A novel state-space representation is formulated by…

In the evolving landscape of high-speed agile quadrotor flight, achieving precise trajectory tracking at the platform's operational limits is paramount. Controllers must handle actuator constraints, exhibit robustness to disturbances, and…

We show that the closed-loop control obtained by feeding back the derivative of the signal from the homodyne measurement of one mode of the light exiting a two-mode optical cavity interacting with a mechanical resonator permits to control…

This paper describes the design of a linear quadratic gaussian (LQG) for trajectory tracking control of UAV Bicopter. In this work, disturbance in the form of payload significantly affects the trajectory tracking control process on the UAV…

We present a formulation of feedback in quantum systems in which the best estimates of the dynamical variables are obtained continuously from the measurement record, and fed back to control the system. We apply this method to the problem of…

A robust model predictive control (MPC) method is presented for linear, time-invariant systems affected by bounded additive disturbances. The main contribution is the offline design of a disturbance-affine feedback gain whereby the…

This paper presents a constraint-aware control framework for underactuated aerial manipulators, enabling accurate end-effector trajectory tracking while explicitly accounting for safety and feasibility constraints. The control problem is…

We describe the formalism for optimally estimating and controlling both the state of a spin ensemble and a scalar magnetic field with information obtained from a continuous quantum limited measurement of the spin precession due to the…

This paper addresses the design and application controller for a small-size unmanned aerial vehicle (UAV). In this work, the main objective is to study the modeling and attitude controller design for a small size helicopter. Based on a…