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...

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 article investigates the spacecraft rendezvous control problem in presence of parametric uncertainties and external disturbances. Redundancy thrusters subject to undesirable saturations faults are also considered. Benefiting from asymmetry smoothness Gauss error function, we introduce a new saturation function model each thruster with asymmetric magnitude constraints. By augmenting six-degree-of-freedom (6DOF) relative dynamics auxiliary dynamic systems, novel adaptive saturated...

Dear Editor, This letter proposes a robust control strategy for the autonomous landing of quadrotor on moving target. Specifically, force command that consists cascade dynamics estimator and an optimal guaranteed cost law is exploited position-loop tracking. Then, orientation constraint torque employed attitude-loop tracking such refrains from flipping during operation. Stability analysis indicates overall closed-loop system asymptotically stable. Finally, flight experiments validate access...

In this article, we study the cooperative formation tracking problem of clustered quadrotors without velocity and angular measurements. particular, are required to track a reference trajectory while preserving well-defined shape. However, information interaction among is local only known partial quadrotors. To overcome aforementioned dilemmas caused by measurement incompleteness restriction, distributed output-feedback control algorithm proposed based on cascaded framework. be specific,...

A novel adaptive fault-tolerant control strategy is proposed for a spacecraft rendezvous maneuver. The six-degree-of-freedom (6-DOF) nonlinear model expressed in the pursuer's body frame, which consists of relative attitude and orbit dynamics presence unknown time-varying inertia parameters, bounded disturbances, actuator faults. continuous developed pursuer where modification term projection algorithm are employed adaptation laws to ensure estimates parameters remain positive bounded. It...

Rather than the conventional pure consensus, this article proposes a pulsewidth modulation (PWM) protocol for an improved interval consensus of multiagent systems from distributed perspective. In particular, all agents is achieved within prescribed interval, which merely available to partial agents, though. The PWM effectively relieves running burden without additional analogue-to-digital conversion. periods different are allowed be heterogeneous. By nominating that have access given as...

Tracking a target by using an unmanned aerial vehicle (UAV) without prior knowledge of the target's velocity and position is critical challenging task. This paper proposes feasible approach that combines image-based visual servo (IBVS) with robust control. More specifically, detection algorithm employed to acquire calculate pixel coordinates center. Simultaneously, UAV utilizes depth camera measure distance between UAV. Subsequently, directly computes flight control commands at image level...