38 Results Found

The translational and rotational dynamics of quadrotor UAVs are commonly described by mathematical modeling where aerodynamic and inertial parameters are involved. Therefore, the importance of having accurate parameters in the model is critical for t...

This paper proposes a modification of a Sliding Mode Classical Observer (SMCO) to adapt it to the fractional approach. This adaptation involves using a set of definitions based on fractional calculus theory, particularly the approach developed by Rie...

In this work, a new pre-tuning multivariable PID (Proportional Integral Derivative) controllers method for quadrotors is put forward. A procedure based on LQR/LQG (Linear Quadratic Regulator/Gaussian) theory is proposed for attitude and altitude cont...

In this paper, an easily implementable coaxial quadrotor model and its validation on data from a real unmanned aerial vehicle (UAV), are presented. The proposed mathematical model consists of two parts: description of orientation and position of the...

This work demonstrates distributed motion planning for multi-rotor unmanned aerial vehicle in a windy outdoor environment. The motion planning is modeled as a receding horizon mixed integer nonlinear programming (RH-MINLP) problem. Each quadrotor sol...

In this paper, aiming at the problem of control and obstacle avoidance in quadrotor formation when mathematical modeling is not accurate, the artificial potential field method with virtual force is used to plan the obstacle avoidance path of quadroto...

The speed error of actuators during the flight of a quad-rotor is included in the attitude error, and this error is immediately corrected by the pilot’s observation. As the control authority of the quad-rotor changes to a computer system, the c...

To expand the application prospects of quadrotors in challenging scenes such as those with dense obstacles and narrow corridors, task-driven reconfigurable quadrotors are highly desirable. Aiming to address hazard missions, in this paper, translation...

The stability and robustness of quadrotors are always influenced by unknown or immeasurable system parameters. This paper proposes a novel adaptive parameter estimation technology to obtain high-accuracy parameter estimation for quadrotors. A typical...

This paper presents the results of a model-based predictive control (MPC) design for a quadrotor aerial vehicle with a suspended load. Unlike previous works, the controller takes into account the hanging payload dynamics, the dynamics in three-dimens...

During the flight of the quadrotor, the existence of a slung load will exert a swing effect on the system and the motion of which will significantly change the dynamics of the quadrotor. The external torque caused by the slung load can be considered...

Quadrotor UAV is vulnerable to external interference, which affects search and rescue. In this paper, a fuzzy neural network dynamic inverse controller (FNN-DIC) is designed to eliminate the instability of the attitude angle caused by atmospheric tur...

“Flight Time” and the “Scope of the mission” play major roles in using UAVs as they affect most industrial activities. Once the battery has depleted, the UAV has to land on the ground and human interaction is needed to change...

In order to solve the problems of complex dynamic modeling and parameters identification of quadrotor formation cooperative trajectory tracking control, this paper proposes a data-driven model-free adaptive control method for quadrotor formation base...

A biplane quadrotor is a hybrid type of Unmanned Aerial Vehicle (UAV) that has advantages of both fixed-wing and rotary-wing UAVs. In this study, we design controllers using (i) Backstepping Control (BSC), (ii) Integral Terminal Sliding Mode Control...

This paper uses the adaptive dynamic programming (ADP) method to achieve optimal trajectory tracking control for quadrotors. Relying on an established mathematical model of a quadrotor, the approximate optimal trajectory tracking control, which consi...

Recently, there has been a rapid growth of interest in quadrotors with electric variable-pitch propellers. The control and optimization of such propellers are important factors for improving the flight performance of the vehicles. Therefore, the stea...

The formation flight of quadrotor unmanned aerial vehicles (UAVs) is a complex multi-constraint process. When designing a formation controller, the dynamic model of the UAV itself has modeling errors and uncertainties. Model predictive control (MPC)...

This paper introduces a stable adaptive PID-like control scheme for quadrotor Unmanned Aerial Vehicle (UAV) systems. The PID-like controller is designed to closely estimate an ideal controller to meet specific control objectives, with its gains being...

In this paper the development and practical implementation of a Passivity-Based Control (PBC) algorithm to stabilize an Unmanned Aerial Vehicle (UAV) described with unit quaternions are presented. First, a mathematical model based on Euler-Lagrange f...

Most of the mechanical dynamic systems are subjected to parametric uncertainty, unmodeled dynamics, and undesired external vibrating disturbances while are motion controlled. In this regard, new adaptive and robust, advanced control theories have bee...

Enhancing quadrotor control to improve both precision and responsiveness is essential for expanding their deployment in complex and dynamic environments. These aerial vehicles are widely used in applications, such as aerial mapping, delivery, disaste...

This article addresses the problem of formation control of a quadrotor and one (or more) marine vehicles operating at the surface of the water with the end goal of encircling the boundary of a chemical spill, enabling such vehicles to carry and relea...

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 presents a novel concept of a modular multirotor aerial robotic platform that can be used for specific profiles of heavy payload missions. A comprehensive mathematical model of the multirotor unmanned aerial vehicle (UAV) is presented, whi...

A hybrid proportional double derivative and linear quadratic regulator (PD2-LQR) controller is designed for altitude (z) and attitude (roll, pitch, and yaw) control of a quadrotor vehicle. The derivation of a mathematical model of the quadrotor is fo...

Quadrotor unmanned aerial vehicles (UAVs) are widely used as flexible and mobile access points and information carriers for the future Internet of Things (IoT). This work studies a quadrotor UAV-assisted IoT network, where the UAV helps to collect se...

In recent years, the cost-effectiveness and versatility of Unmanned Aerial Vehicles (UAVs) have led to their widespread adoption in both military and civilian applications, particularly for operations in remote or hazardous environments where human i...

This article presents a fixed-time active disturbance rejection control approach for the attitude control problem of quadrotor unmanned aerial vehicle in the presence of dynamic wind, mass eccentricity and an actuator fault. The control scheme applie...

This paper presents a fault-tolerant flight control method for a multi-rotor UAV under actuator failure and external wind disturbances. The control method is based on an active disturbance rejection controller (ADRC) and spatio-temporal radial basis...

Nonlinear control theory applied to unmanned aeronautical vehicles is an engineering topic that has received higher and higher popularity during the last decade. Model-based control approaches have shown increased performance in flight control accura...

The development of quadrotor unmanned aerial vehicles (QUAVs) is a growing field due to their wide range of applications. QUAVs are complex nonlinear systems with a chaotic nature that require a controller with extended dynamics. PD and PID controlle...

This paper presents a fuzzy adaptive controller (FAC) for improving the efficiency and stability of fuel cells, assuming that the nonlinear dynamic model of the system is unknown. In polymer electrolyte membrane fuel cells, the output voltage should...

Quadrotor unmanned aerial vehicles (UAVs) have emerged as ubiquitous and agile robots and data carriers within the framework of the future Internet of Things (IoT) and mobile wireless networks. Yet, the insufficient onboard battery necessitates the o...

As a novel mode of urban air mobility (UAM), unmanned aerial vehicles (UAVs) pose a great amount of risk to ground people. Assessing ground risk and mitigation effects correctly is a focused issue. This paper proposes a grid-based risk matrix framewo...

The development of hybrid unmanned aerial underwater vehicles (HAUVs) compatible with the advantages of the aerial vehicles and the underwater vehicles is of great significance. This paper presents the first study on a new HAUV layout using four roto...

This study presents the design and implementation of a real-time flight-path tracking control system for a quadrotor unmanned aerial vehicle (UAV) capable of accurately following a mobile ground target under dynamic and uncertain environmental condit...

With the rapid development of the Internet of Things, the Internet of Vehicles (IoV) has quickly drawn considerable attention from the public. The cooperative unmanned aerial vehicles (UAVs)-assisted vehicular networks, as a part of IoV, has become a...