We address the problem of trajectory tracking control a quadrotor-slung-load system. A novel framework is proposed that relaxes differentiability class order reference. In lieu traditional approaches primarily regard position either quadrotor or load in design controllers, this work, we consider <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">virtual</i> point located along cable between vehicle and payload. The resulting framework, which...

This letter presents the design and experimental study of an adaptive nonlinear controller for Unmanned Aerial Vehicles (UAVs) in presence unknown time-varying disturbances, model parametric uncertainty. We employ Neural Network (NN), used to approximate partially system, tandem with a simple designed trajectory tracking, not center mass, but point located along UAV's vertical body axis. strategy allows: (i) avoid two-subsystems control paradigm generally adopted by conventional UAV...

We develop and experimentally test a prescribed performance control methodology for trajectory tracking of underactuated autonomous aerial vehicles under unknown time-varying disturbances. An extended state observer is first proposed to filter position velocity measurements, compensate disturbances, including model parametric uncertainty and/or exogenous perturbations, e.g., wind. Then, by resorting barrier function constraints on the transient steady-state response error, we derive thrust...

In this article, we develop a methodology for trajectory tracking control of vertical takeoff and landing (VTOL) unmanned aerial vehicle (UAV) in the presence unknown mass time-varying external disturbances. A time-dependent shift function is introduced, which, alongside set barrier vector functions, enables finite period constrained outputs, namely, position velocity errors. The proposed controller also features two stable adaption laws to estimate following: 1) UAV 2) parameter relating...

This paper presents the steps for developing a low-cost POrtableNavigation Tool Underwater Scenarios (PONTUS) to be used as localization device subsea targets. PONTUS consists of an integrated ultra-short baseline acoustic positioning system aided by inertial navigation system. Built on practical design, it can mounted underwater robotic vehicle or operated scuba diver. It also features graphical user interface that provides information tracking designated target, in addition some details...

In this article, we tackle the problem of path following control an underactuated autonomous surface vehicle in presence external disturbances and model parametric uncertainty. Using conventional Lyapunov-based backstepping technique, derive a nonlinear law to determine vectored actuation composed thrust direction force that is bounded with respect position error. The model's linear angular hydrodynamic damping terms are assumed be known uncertainty, while fully unknown. errors stemming from...

Abstract This paper presents a control solution for the problem of slung load transportation, with simultaneous damping oscillations, using an underactuated autonomous quadrotor vehicle in presence external disturbances. The strategy put forward is divided into two parts: (i) resorting to error definition that encompasses pendular motion suspended load, controller inspired sliding‐mode theory developed compute vectored thrust actuation actively damps out system's oscillations; (ii) different...

This paper presents a novel filtering technique to estimate the position of moving target based on discrete-time direction and velocity measurements. The is assumed be corrupted by an unknown constant bias, which explicitly estimated in process. A nonlinear system first designed, describing dynamics observations associated target, followed then state augmentation that yields equivalent linear time-varying system. An observability analysis for latter conducted necessary sufficient conditions...

This letter presents a novel attitude estimation solution, built on <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$SO(3)$ </tex-math></inline-formula> , that resorts to single measurements of constant inertial vector, in addition angular velocity readings provided by set three high-grade fiber optic rate gyros, which are assumed be sensitive the motion Earth. approach contrasts with typical solutions...

This article describes an offline calibration methodology, resorting to a three-axis rate and positioning table, for high-grade inertial measurement units that encompass three sets of triaxial sensors: advanced fiber optic gyroscopes sensitive the Earth's rotational velocity; low-noise accelerometers; integrated magnetometers. The routine, which is similar all sensory devices, yields constant parameters correction matrix, bias vector, reference vector related known quantity. Experimental...

This paper proposes a nonlinear attitude observer, built on the special orthogonal group SO(3), that resorts to body measurements of single constant inertial vector, in addition angular velocity obtained from set three high-grade fiber optic gyros, which are herein assumed sensitive enough measure Earth's rotation vector. strategy contrasts with typical solutions require two non-collinear vectors, and can be very useful scenarios either strong magnetic anomalies or highly-accelerated...

This article presents a discrete-time attitude estimation solution based on cascade of two linear time-varying Kalman filters (KFs). Under mild assumptions, the cascade's first KF resorts to body-fixed measurements angular velocity and constant inertial vector yield an estimate Earth's velocity. The latter, in addition all previous measurements, is fed second obtain rotation matrix. Although topological constructions are lifted, last-step projection operator employed that maps final matrix...

This article addresses the problem of simultaneously estimating: 1) attitude a rigid body on special orthogonal group order 3 ( <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\mathsf {SO}(3)$</tex-math></inline-formula> ); 2) Earth's spin vector expressed in body-fixed coordinates; and 3) pair time-varying sensor measurement biases. The available readings include biased angular velocity measurements...

In this tutorial, a new class of attitude estimation solutions is presented to determine the orientation robotic platform resorting only set triaxial gyroscopes and an additional measurement constant inertial vector. This approach poses significant advantage in terms setup design reduced mission costs since one required, contrast with existing that require at least two these. Pertinent examples viable applications include navigation submarines or large ships, assisting autonomous robots...