This article presents a fixed-time observer-based safety control strategy for quadrotor unmanned aerial vehicles (UAVs) against multiple actuator faults and unknown disturbances. The sliding mode observer is designed to estimate the state residual fault. Unlike most of existing strategies, estimation time fault parameters independent initial condition, which can be strictly ensured within fixed upper bound. Besides, transient error regarded as disturbance. In this article, retrofit mechanism...

Nowadays, the ultrawideband (UWB) has become a popular solution to indoor localization problem of quadrotor unmanned aerial vehicle (UAV) due its low power consumption and ease implementation. Nonetheless, accuracy UAV is affected by skew- <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$t$ </tex-math></inline-formula> measurement noises UWB sensor induced mainly nonline-of-sight (NLOS) errors multipath...

Dietary l-carnitine produces γ-butylbetaine (γBB) in a gut-microbiota-dependent manner humans, and has been proven to be an intermediate product possibly associated with incident cardiovascular diseases or major adverse events. Eliminating reducing the production of microbiota-dependent γBB may contribute adjuvant therapy for diseases. However, date, our understanding metabolic gene clusters (MGCs) microorganisms remains limited. To solve this problem, we constructed manually curated cluster...

Achieving accurate control performance of the end-effector is critical for practical applications aerial manipulator. However, due to presence floating-base disturbance from unmanned vehicle (UAV) platform and kinematic error amplification effect multilink structure manipulator, it extremely challenging ensure high-precision Building upon philosophy rejection, we propose a predictive optimization scheme that allows manipulator successfully execute millimeter-level flying pick peg-in-hole...

This paper presents an excitation operator based fault separation architecture for a quadrotor unmanned aerial vehicle (UAV) subject to loss of effectiveness (LoE) faults, actuator aging, and load uncertainty. The dynamics is deeply excavated, containing the deep coupling information among system states, control inputs. By explicitly considering physical constraints tracking performance, corresponding integrated state observer are designed estimate separately Moreover, maneuver safety...

Downbursts belong to sudden, local, and strong convection weather, which present significant destruction for structures. At any given time, there are approximately 2000 thunderstorms occurring on the Earth. Many studies have investigated effects of downbursts different However, extensive range varying wind field parameters diverse representations speeds render study structural complex challenging under downbursts. This firstly reviews research properties according four common approaches,...

In this paper, a coupled-attitude based trajectory tracking scheme is proposed to track both the position and attitude of under-actuated unmanned aerial vehicles, its application on formation control further demonstrated. An intermediate which composed desired information designed in two-stage framework, wherein first stage controller design translational subsystem second that an subsystem. By virtue attitude, includes realized. The can be viewed as bridge connecting motion, it new approach...

Focusing on the problem of narrow space crossing in search and rescue missions, an H-configuration Tiltable QuadRotor (HTQR) with four additional servos is designed this paper. The essential large roll angle during magnifies deviation between centers aerodynamics gravity (DCAG), results nonnegligible ground effect torque due to different height rotors. An anti-disturbance control scheme proposed achieve safe against disturbances from DCAG effect. A dynamic allocation relationship related...

Abstract The lack of aerial physical interaction capability is one the choke points limiting extension robot applications, such as rescue missions and maintenance. We present a new robotic manipulator (AEROM) for dexterous operations in this work. It contains with 6-degree-of-freedom compact flight platform. Firstly, we propose quantitative index to evaluate guide mechanical design AEROM. Based on proposed index, construct lightweight bird-inspired imitate raptor hindlimb. An additional...

One of inescapable challenges in facilitating the application aerial manipulators is to achieve high precision control performance end-effector. The manipulator motions beneath UAV platform constantly contend with composite disturbances, such as floating base, strong inner coupling effects, and model uncertainties. These factors collectively contribute an inadequate performance. In this paper, a scheme presented tackle issue. Specifically, joint velocity planner proposed handle base-floating...

Conflicting performance requirements for active suspensions are specified separately in the term of RMS gain and formulated then independently into a multiobjective problem. An optimal state feedback solution is proposed based on LMI control techniques, where various uncertainties vehicle systems can be considered. Moreover, pole placement constraints recast easily terms. It shown that robust guaranteed closed-loop system. Simulation results 2 DOF quarter-car model presented.

This paper proposes the design of an aerial manipulator system for capture missions. A novel mechanical layout is designed. 5-degree-of freedom and battery are placed at front back part a quadrotor unmanned vehicle (UAV) respectively. can expand task space minimize shift center mass. To improve success rate capture, inspired by predation maneuver birds, online trajectory generation law mission proposed. The points towards its target during flight. Experimental results show that proposed on...

Abstract This article presents a single‐hidden‐layer feedforward network (SLFN) aided fault‐tolerant control (FTC) scheme for class of nonlinear systems subject to actuator faults. First, the upper bounds norms unknown functions, which cover information faults and amplitude saturation degrees, are deployed. The approximated by SLFNs with adaptive techniques. Subsequently, sliding mode approach is presented allow prompt corrective reactions, explicit consideration multivariable conditions...

Malware, exposed on the ground control station, can tamper with unmanned aerial vehicles (UAVs) interaction information. It makes UAVs vulnerable to desired trajectory attacks, which deteriorates flight safety if no timely action is taken. Therefore, this article focus fast reactive mechanism for attacks UAVs. A fixed-time detection scheme proposed based unknown inputs observer and tracking errors. Subsequently, a sliding mode attack developed compensate effect caused by attacks. Meanwhile,...