This paper deals with the trajectory tracking problem for a quadrotor unmanned aerial vehicle (UAV). For this purpose, two control strategies are proposed. First, a flight controller with a hierarchical structure is designed, whereby the complete clo...
This paper aims to address the trajectory tracking problem of quadrotors under complex dynamic environments and significant fluctuations in system states. An adaptive trajectory tracking control method is proposed based on an improved Model Predictiv...
Despite technological growth and worldwide advancements in various fields, the agriculture sector continues to face numerous challenges such as desertification, environmental pollution, resource scarcity, and the excessive use of pesticides and inorg...
This article deals with quadcopter modeling using a system for the measurement of unmanned aerial vehicle (UAV) parameters. UAVs are often equipped with various measurement devices and equipment for measurement, which significantly affects their weig...
In the present work a dynamic simulation model for a quadcopter drone is developed and validated through experimental flight data. The aerodynamics of the rotors is modeled with the blade element theory combined with the Peters and He dynamic wake mo...
In this paper, a novel control architecture is proposed in which FMPC couples feedback from model predictive control with feedforward linearization. The proposed approach has the computational advantage of only requiring a convex quadratic program to...
Recently, morphing quadcopters have gained an unprecedented popularity due to their nature of flexibility, self-controlled arm management and diversified application. It has been established that in morphing quadcopter control, aerial morphing genera...
In recent decades, the deployment of quadcopters has significantly expanded, particularly in outdoor applications such as parcel delivery. These missions require highly stable aerial platforms capable of maintaining balance under diverse environmenta...
Experimental field campaigns are an essential part of atmospheric research, as well as of university education in the field of atmospheric physics and meteorology. Experimental field observations are needed to improve the understanding of the surface...
Increasing demand for faster and more agile Unmanned Aerial Vehicles (UAVs, drones) is observed in many scenarios, including but not limited to medical supply or Search-and-Rescue (SAR) missions. Exceptional maneuverability is critical for robust obs...
This paper studies a cooperative modeling framework to reduce the complexity in deriving the governing dynamical equations of complex systems composed of multiple bodies such as biped robots and unmanned aerial and ground vehicles. The approach also...
The growing demand for agile and reliable Unmanned Aerial Vehicles (UAVs) has spurred the advancement of advanced control strategies capable of ensuring stability and precision under nonlinear and uncertain flight conditions. This work addresses the...
Unmanned aerial vehicles or drones are becoming one of the key machines/tools of the modern world, particularly in military applications. Numerous research works are underway to explore the possibility of using these machines in other applications su...
In this paper, we propose a physics-informed neural network controller for quadcopter dynamics modeling. Physics-aware machine learning methods, such as physics-informed neural networks, consider the UAV dynamics model, solving the system of ordinary...
This paper elaborates on the modeling and control of an Unmanned Aerial Vehicle (UAV) for delivery purposes, thereby integrating computer-aided design, multibody dynamic modeling, and motion control analysis in a unified framework. The UAV system des...
Nano quadcopters are small, agile, and cost-effective Internet of Things platforms, especially appropriate for narrow and cluttered environments. We developed a model-free control policy combined with FlowDep, an efficient optical flow depth estimati...
In this paper, a hybrid fault-tolerant control (FTC) system for quadcopter unmanned aerial vehicles (UAVs) is proposed to counteract the deterioration of the performance of the quadcopter due to motor faults. A robust and adaptive approach to control...
This paper contains an example of a simulation implementation of sliding mode control algorithms for the problem of adjusting the linear position of a quadrotor. A mathematical model of the drone was proposed, which was then implemented in a simulati...
This paper provides a comprehensive investigation of nonlinear robust control methodologies, with a specific emphasis on the development of sliding mode controllers (SMCs) for quadcopter unmanned aerial vehicles (UAVs). Quadcopters are highly interco...
The development of artificial intelligence systems assumes that a machine can independently generate an algorithm of actions or a control system to solve the tasks. To do this, the machine must have a formal description of the problem and possess com...
This article describes a quadcopter drone with foldable arms, which we have named the Peregrine Falcon. It can take off from a moving vehicle by barrel launching and perform its mission in the air after autonomously spreading its arms. The design hel...
One of the crucial problems in control theory is the tracking of exogenous signals by controlled systems. In general, such exogenous signals are generated by exosystems. These tracking problems are formulated as optimal regulation problems for design...
Developing methods for autonomous landing of an unmanned aerial vehicle (UAV) on a mobile platform has been an active area of research over the past decade, as it offers an attractive solution for cases where rapid deployment and recovery of a fleet...
In recent years, quadcopter-type unmanned aerial vehicles have been preferred in many engineering applications. Because of its nonlinear dynamic model that makes it hard to create optimal control, quadcopter control is one of the main focuses of cont...
Quadcopters are widely used in a variety of military and civilian mission scenarios. Real-time online detection of the abnormal state of the quadcopter is vital to the safety of aircraft. Existing data-driven fault detection methods generally usually...
Vibrations often result in fatigue breakage in quadcopter flight operations. Reducing the vibration effect is the main important issue for quadcopter flight. Enhanced dynamic stiffness is required in the quadcopter control system for the vibration re...
Quadcopters are attracting widespread attention due to their growing demand for use in various applications. Since wired communication would severely restrict a quadcopter’s range, maneuverability, and applications, quadcopters usually communic...
Standard quadcopters are popular largely because of their mechanical simplicity relative to other hovering aircraft, low cost and minimum operator involvement. However, this simplicity imposes fundamental limits on the types of maneuvers possible due...
Quadrotors possess traits such as under-actuation, nonlinearity, and strong coupling. Quaternions are primarily used for attitude calculations in drones, with error quaternions seldom being employed directly in the control of specific quadcopter dron...
Quadrotor UAVs are one of the most preferred types of small unmanned aerial vehicles, due to their modest mechanical structure and propulsion precept. However, the complex non-linear dynamic behavior of the Proportional Integral Derivative (PID) cont...
High-precision landing is a key technical problem that Unmanned Aerial Vehicles (UAVs) will encounter in all application fields, especially for the landing of moving targets. This paper focuses on developing a landing system designed to achieve real-...
This paper presents an analysis of a quadcopter’s stability and its sensors’ data reading using an IMU (inertial measurement unit). Firstly, the angular velocity and acceleration data are read by an Stm® development board embedded wit...
Air transport is the fastest way to reach areas with no direct land routes for ambulances. This paper presents the development of a quadcopter-based rapid response unit in an efficient aerial aid system to eliminate the delay time for first aid suppl...
This work designed a disturbance-observer-based nonlinear sliding mode surface controller (SMC) and validated the controller using a simulated PX4-conducted quadcopter. To achieve this goal, this research (1) developed a dynamic mathematical model; (...
The paper describes a novel method for the detection of damage in carbon composites as used in drone frames. When damage is detected a further novel corrective response is initiated in the quadcopter flight controller to switch from a four-arm contro...
Minimizing electric losses is critical to the success of battery-powered small unmanned aerial systems (SUASs) that weigh less than 25 kgf (55 lb). Losses increase energy and battery weight requirements which hinder the vehicle’s range and endu...
Most works related to the identification of mathematical nonlinear systems suggest that such approaches can always be directly applied to any nonlinear system. This misconception is greatly discouraging when the obtained results are not expected. Thu...
The trend towards the usage of battery-electric unmanned aerial vehicles needs new strategies in mission planning and in the design of the systems themselves. To create an optimal mission plan and take appropriate decisions during the mission, a reli...
The capabilities of a quadcopter in the hover mode for low-altitude sensing of atmospheric turbulence with high spatial resolution in urban areas characterized by complex orography are investigated. The studies were carried out in different seasons (...
Nowadays, quadcopter unmanned aerial vehicles play important roles in several real-world applications and the improvement of their control performance has become an increasingly attractive topic of a great number of studies. In this paper, we present...
This article presents a formation tracking control method for the operation of multi-agent systems under disturbances. This study aims to ensure that the followers of a quadcopter converge into the desired formation while the center formation of the...
In this paper, a fault-tolerant control method is proposed for quadcopter unmanned aerial vehicles (UAV) to account for system uncertainties and actuator faults. A mathematical model of the quadcopter UAV is first introduced when faults occur in actu...
This article presents a novel dataset focused on structural damage in quadcopters, addressing a significant gap in unmanned aerial vehicle (UAV or drone) research. The dataset is called CrazyPAD (Crazyflie Propeller Anomaly Data) according to the nam...
This paper addresses the problem of controlling quadcopters operating in an environment characterized by unpredictable disturbances such as wind gusts. From a control point of view, this is a nonstandard, highly challenging problem. Fundamentally, th...
The trajectory or moving-target tracking feature is desirable, because it can be used in various applications where the usefulness of UAVs is already proven. Tracking moving targets can also be applied in scenarios of cooperation between mobile groun...
This study focuses on designing a controller for trajectory tracking of quadcopters using advanced sliding-mode techniques. Specifically, an integral terminal sliding-mode control based on an adaptive barrier function with a super-twisting reaching l...
Wind speed and direction are important parameters in meteorological observation. A solid wind sensor is needed with a small quadcopter for boundary layer meteorological observation. In this paper, the principle of a cylindrical two-dimensional wind s...
In the framework of the MATIM project, an acoustic test campaign was conducted on a platform derived from a commercial-class quadcopter within the CIRA semi-anechoic chamber. A dedicated rotor rig allowed systematic measurements of thrust, torque, an...
Unmanned aerial vehicles have a wide range of uses in the military field, non-combat situations, and civil works. Due to their ease of operation, unmanned aerial vehicles (UAVs) are highly sought after by farmers and are considered the best agricultu...
Constrained by fixed frame dimensions, conventional drones usually demonstrate insufficient capabilities to accommodate complex environments. However, the reconfigurable drone can address this limitation through its deformable frame equipped with act...
of 3