This paper studies the trajectory tracking problem of flapping-wing micro aerial vehicles (FWMAVs) in longitudinal plane. First all, kinematics and dynamics FWMAV are established, wherein aerodynamic force torque generated by flapping wings tail wing explicitly formulated with respect to frequency degree inclination. To achieve autonomous tracking, an adaptive control scheme is proposed under hierarchical framework. Specifically, a bounded position controller hyperbolic tangent functions...

This paper proposes a distributed formation control approach for team of vertical takeoff and landing (VTOL) unmanned aerial vehicles (UAVs) subject to switching topologies. The communication topology among UAVs is allowed be with weak connectivity, in the sense satisfying uniformly jointly connected assumption. Since VTOL UAV systems are typically underactuated, hierarchical framework introduced such that scheme can established using neighboring positions velocities. In particular, command...

This brief investigates the trajectory tracking problem for a model-scaled helicopter with novel robust adaptive radial basis function neural network (RBFNN) augmenting backstepping control approach. The model is first decomposed into an approximate strict-feedback format some unmodeled dynamics. Backstepping technique employed as main framework, which augmented by RBFNNs to Each RBFNN utilizes n th-order smooth switching combine conventional control. dominates in active region, while...

This paper exploits a nonlinear robust adaptive hierarchical sliding mode control approach for quadrotors subject to thrust constraint and inertial parameter uncertainty accomplish trajectory tracking missions. Because of under-actuated nature the quadrotor, strategy is available; position attitude loop controllers are synthesized according projects, where updates with projection algorithm developed ensure bounded estimations uncertain parameters. Further, during controller development, an...

This paper studies the distributed time-varying convex optimization problem for a class of nonlinear multiagent systems. An auxiliary system is first designed to estimate global optimal state and its high-order derivatives by means algorithm. Relying on this system, solution converted into that tracking A control scheme then proposed based back-stepping strategy. Simulations are provided validate theoretical results.

This paper develops a novel immersion and invariance (I&I)-based adaptive controller for nonlinear underactuated quadrotor systems subject to uncertain inertial parameters. The objective is drive the accurately track reference trajectory. synthesis based on hierarchical framework. First, solution trajectory tracking problem transformed stabilizing its corresponding error system asymptotically. Second, avoid singularity in command attitude extraction, saturated backstepping control strategy...

In this paper, a miniature video stabilization system is designed to deal with the image jitter and motion blur problem for flapping-wing aerial vehicles (FWAVs). First, light two-axis pan–tilt (about 13[Formula: see text]g) built FWAV counteract most of effect. Then, an electronic method combined Micro-Electro Mechanical Systems (MEMSs) gyroscope proposed further stabilize images. Finally, flight experiment results show that effectively improves quality videos.

This article focuses on the solution to coordinated formation problem of heterogeneous vertical takeoff and landing (VTOL) unmanned aerial vehicles (UAVs) in presence parametric uncertainties. In particular, their inertial parameters are distinct unavailable. For sake accomplishment objective multiple underactuated VTOL UAVs through local information exchange, an adaptive distributed control algorithm is developed under a cascaded structure. Specifically, by introducing immersion invariance...

In this article, a class of distributed quadratic games is considered over an undirected graph. The issue on the communication topology restriction introduced and players' dynamics are with nonlinear unknown time-varying perturbation. A Nash equilibrium seeking algorithm proposed based high-gain observer method, convergence analyzed by Lyapunov stability theory. It shown that each player estimates rival states, errors between states ultimately bounded small bound. Moreover, presented free...

This article surveys the trajectory tracking issue of underactuated vertical takeoff and landing (VTOL) unmanned aerial vehicles (UAVs) subject to thrust torque faults, i.e., loss efficiency actuator biases. In particular, a robust control algorithm against time-varying faults disturbances is proposed. To exploit nature VTOL UAV system, developed based on hierarchical framework, under which position attitude loops are studied in sequence. Specifically, by implementing novel fault-tolerant...

A distributed control algorithm is proposed in this paper to achieve the leader–follower cooperative attitude tracking of multiple rigid bodies without using absolute and relative angular velocity information. The nonlinear manifold SO(3) applied represent each body. By considering case limited information exchange, i.e., not all have access leader's information, a novel continuous estimator satisfying rotation matrix dynamics first introduced for body estimate asymptotically. Then, two...

This article studies the leader-follower formation tracking problem of multiple quadrotors. In particular, quadrotors are steered to track a reference trajectory while maintaining desired configuration. The is partially available subset quadrotors, and each quadrotor just interacts locally with its neighbors. A distributed control algorithm proposed under hierarchical framework. First, by introducing saturation strategy, command force synthesized for position displacement. Second, bounded...

This article investigates the distributed localization and circumnavigation problem for a group of agents using bearing measurements. In particular, there is one agent appointed as pathfinder in that responsible measuring relative with respect to an uncertain target. We consider both persistent intermittent measurement cases. The objective drive all such they first localize given target then circumnavigate it isometrically. First, case, control algorithm developed by introducing observer....

This article studies a distributed constrained optimization problem of multiple agents characterized by Euler-Lagrange systems with unknown inertial parameters. The objective is to compute feasible solution within the intersection series sets such that global payoff function summed group local ones minimized. Meanwhile, each and set are just privately available their respective agent. To accomplish concerned objective, fully continuous-time algorithm resorting projection-based auxiliary...

This article investigates the formation control issue of clustered vertical takeoff and landing (VTOL) unmanned airborne vehicles (UAVs) subject to undesired perturbations composed by actuator faults, parametric uncertainties, external disturbances. In particular, a cluster VTOL UAVs fly together in given velocity with well-specified configuration. For this purpose, an adaptive fault-tolerant distributed algorithm via local information interaction is proposed under hierarchical framework....

This paper investigates the coordinated attitude synchronization and tracking problems of multiple rigid-body spacecraft subject to inaccurate inertial parameters. Two adaptive distributed control algorithms are developed based on communications among connected through a switching communication network, which allow each subgraph be disconnected. In first place, by introducing an strategy for parameters, algorithm is designed. particular, gain selection criteria specified asymptotic under...