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 work focuses on the design and construction of an experimental test bench of three degrees of freedom with application in educational environments. It is constituted by a gyroscopic structure that allows the movements of a quadcopter to analyze...
Fault detection and diagnosis (FDD) methods and fault-tolerant control (FTC) have been the focus of intensive research across various fields to ensure safe operation, reduce costs, and optimize maintenance tasks. Unmanned aerial vehicles (UAVs), part...
With the rapid proliferation of drone applications, multi-UAV formation flights are becoming increasingly prevalent. While most existing studies focus on the aerodynamics of a single drone, aerodynamic interactions within UAV formations—particu...
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...
In this study, a sliding mode surface controller (SMC) designed for a quadcopter is experimentally tested. The SMC was combined with disturbance observers in six degrees of freedom of the quadcopter to effectively reject external disturbances. While...
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...
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...
This paper investigates the problem of the time-varying formation control of a second-order dynamic agent based on a distributed dynamic event-triggered algorithm. In this problem, each agent can exchange the information of its position and velocity...
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...
The problem addressed in the present paper is the design of a controller based on an evolutionary neural network for autonomous flight in quadrotor systems. The controller’s objective is to govern the quadcopter in such a way that it reaches a...
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...
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...
This paper studies the quadcopter’s mutual interference phenomenon. The flow field of the quadcopter at different flight speeds is simulated by solving the three-dimensional unsteady Reynolds averaged Navier-Stokes equations with sliding mesh methods...
This paper describes the development process of the quadcopter-based unmanned flying platform, designed for testing and experimentation purposes. The project features custom-made hardware, which includes the prototype quadcopter frame and the flight...
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...
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 this study, we implemented a compact wind direction sensor on a palm-sized quadcopter to achieve wind source localization (WSL). We designed an anemotaxis algorithm based on the sensor data and experimentally validated its efficacy. Anemotaxis ref...
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 finding their place in everything from transportation, delivery, hospitals, and to homes in almost every part of daily life. In places where human intervention for quadcopter flight control is impossible, it becomes necessary to equip...
In this study, we design and verify an intake system using the wake of a pocket-sized quadcopter for the chemical plume tracing (CPT) problem. Solving CPT represents an important technique in the field of engineering because it can be used to perform...
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...
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...
Quadcopters are beginning to play an important role in precision agriculture. In order to localize and operate the quadcopter automatically in complex agricultural settings, such as a greenhouse, a robust positioning system is needed. In previous res...
SLAM (Simultaneous Localization And Mapping) in unmanned aerial vehicles can be an advantageous proposition during dangerous missions where aggressive maneuvers are paramount. This paper proposes to achieve it for a quadcopter using a differential fl...
Quadcopter unmanned aerial vehicles continue to play important roles in several applications and the improvement of their control performance has been explored in a great number of studies. In this paper, we present an altitude control algorithm for...
Advancements in multi-rotor quadcopter technology and sensing capabilities have led to their increased utilisation for last-mile delivery. However, battery capacity constraints limit their use in extended-distance delivery scenarios. A visual servoin...
During the maneuvering of most unmanned aerial vehicles (UAVs), the GPS is one of the sensors used for navigation. However, this kind of sensor cannot handle indoor navigation applications well. Using a camera might be the answer to performing indoor...
Fault diagnosis (FD) is one of the main roles of fault-tolerant control (FTC) systems. An FD should not only identify the presence of a fault, but also quantify its magnitude and location. In this work, we present a robust fault diagnosis method for...
This article describes the data acquired from multiple flights of a custom-built quadcopter. The Quadcopter was programmed to fly a pre-defined “Figure-8” flight path, at a constant altitude. The data set includes flights with a varying n...
Quadcopter flight stability is achieved when all of the rotors–propellers generate equal thrust in hover and throttle mode. It requires a control system algorithm for rotor speed adjustment, which is related with the translational vector and ro...
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 study presents a detailed analysis of an air monitoring development system using quadcopters. The data collecting method is based on gas dispersion investigation to pinpoint the gas source location and determine the gas concentration level. Due...
In this work, an in-depth investigation into enhancing quadcopter autonomy and control capabilities is presented. The focus lies on the development and implementation of three conventional control strategies to regulate the behavior of quadcopter UAV...
Quadcopters represent rotary wing configuration of the Unmanned Aerial Vehicles (UAVs) with immense application potential in industrial and strategic contexts. Tradeoff between flight endurance and payload capacity renders design optimization of UAVs...
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...
Quadcopter unmanned aerial vehicles have become increasingly popular for various real-world applications, and a significant body of literature exists regarding the improvement of their flight capabilities to render them fully autonomous. The precise...
Fault-tolerant control has drawn attention in recent years owning to its reliability and safe flight during missions. In this article, an active fault-tolerant control method is proposed to control a quadcopter in the presence of actuator faults and...
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...
The robust control of quadcopters is essential for maintaining stability and performance in dynamic environments. This paper examines the effectiveness of Particle Swarm Optimization (PSO) and Grey Wolf Optimization (GWO) for tuning LQR-PID controlle...
The frame of a quadcopter drone is the most important component, as it supports all other systems and plays a vital structural role, supporting the stresses that appear during flight. The objective was to reduce the weight of the frame (18% reduction...
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 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...
In this paper, an actuator fault estimation technique is proposed for quadcopters under uncertainties. In previous studies, matching conditions were required for the observer design, but they were found to be complex for solving linear matrix inequal...
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 describes the design, fabrication, and flight test evaluation of a morphing geometry quadcopter capable of changing its intersection angle in-flight. The experiments were conducted at the Aircraft Computational and Resource Aware Fault T...
This paper investigates the sensitivity (resistance) of a quadcopter on-board gyroscope system for the observation and tracking of a moving ground target to changing parameters of its regulator under interference conditions. It was shown that the gai...
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...
Quadcopter drones have been extensively researched due to their flexibility and suitability for diverse tasks. In this study, a control strategy tailored for scenarios with restricted network bandwidth is developed. An event-triggered control approac...
The aim of the present research work is to design a control law for a quadcopter drone based on the Virtual Attractive-Repulsive Potentials (VARP) theory. VARP theory, originally designed to enable path following by a small wheeled robot, will be tai...
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