This paper presents the control of an underactuated two-link robot called Pendubot. We propose a controller for swinging linkage and raise it to its uppermost unstable equilibrium position. The balancing is based on energy approach passivity properties system.

This paper presents a fault tolerant approach for coaxial octorotor regarding rotor failures. A complete architecture including error detection, isolation and system recovery is presented. The diagnosis designed with nonlinear observer to generate residuals an inference model evaluate them isolate the faulty motor. Once motor failure diagnosed, algorithm applied. It uses built-in hardware redundancy of compensates loss failing by controlling its dual keep stable flight that allows multirotor...

In this paper, an interactive leader-follower configuration of multiple quadrotors is considered, which means that the leaders can react with respect to followers. order analyze consensus such a multiquadrotor system, interaction matrix proposed. The convergence condition trajectory tracking error then proved be related smallest eigenvalue matrix. achieve aggressive formation, we develop bounded composite nonlinear feedback-based formation controller hyperbolic functions as main...

Formation control gains significant attention in the multi-robot system field as it contributes to a vast range of applications, such transportation. This letter presents constrained optimization-based law for cooperative logistics mission, which consists rigid shape formation control, group navigation, individual and team obstacle avoidance tasks. These tasks are defined equality inequality constraints with different levels priority. Hierarchical quadratic programming (HQP) approach is used...

Abstract We propose a global stabilizing control design for the planar vertical takeoff and landing (PVTOL) aircraft, with bounded inputs. The approach is based on use of non-linear combinations linear saturation functions bounding thrust input rolling moment to arbitrary limits. provide convergence state origin, using relatively simple algorithm. Notes † In deriving (Equation1), every force acting PVTOL considered be normalized by aircraft's weight (e.g. , where F, m g respectively...

Autonomous robots have motivated researchers from different groups due to the challenge that it represents. Many applications for control of autonomous platform are being developed and one important aspect is excess information, frequently redundant, imposes a great computational cost in data processing. Taking into account temporal coherence between consecutive frames, we proposed set tools based on Pearson's Correlation Coefficient (PCC): (i) Discarding Criteria methodology was applied as...

This paper presents an active fault-tolerant control strategy (AFTCS) for octorotor unmanned aerial vehicle (UAV) regarding several motors failures or rotors damages. A complete AFTC architecture including error detection, fault isolation and system recovery is presented. The diagnosis based on the speeds currents measurements. Once motor failure rotor loss diagnosed, a algorithm applied. It uses pseudo-inverse allocation approach to redistribute efforts among healthy actuators. validated in...

Quadrotors are highly maneuverable lightweight drones, which prone to aerodynamic disturbances, vibrations, and uncertainties. These factors stand for a problem that demands robust control laws. For position tracking, the is exacerbated, because plant underactuated in coordinates of interest, requiring high-performance attitude tracking resolve underactuation. In this brief, novel fractional-order controller proposed by considering well-posed map relates position/yaw desired references. The...

We present an energy based control approach to the Furuta pendulum. A controller is proposed for swinging pendulum and raise it its uppermost unstable equilibrium position. The passivity properties of system are used as a guideline in strategy. stability analysis carried out by using Lyapunov technique.

In this work, a notion of local homogeneity is formally defined. Important results involving homogeneous functions or vector fields are reformulated in the consequent context. particular, global finite-time stability characterized through proposed homogeneity. As an application developed analytical setting, stabilization scheme for robot manipulators with bounded inputs presented. The framework and prove to be useful relax synthesis constraints imposed generated by requirements.

Abstract The wrench capability analysis of an aerial parallel robot named Flying Parallel Robot (FPR), which involves multiple Unmanned Aerial Vehicles (UAVs) cooperatively supporting a moving platform with rigid links, is investigated in this paper. concept the Available Thrust Set (ATS) associated quadrotor system introduced, allows to determine admissible range thrust forces generated by actuator given its actuation limits. Under quasi-static equilibrium condition, Wrench (AWS)...

We consider the control of a hovercraft having only two inputs with three degrees freedom. The model is obtained from equations simplified ship which nonlinear and underactuated. Using co-ordinate transformation given by polynomial describe its kinematics dynamics. Two laws are proposed. first one controls velocity hovercraft. other stabilizes both position (underactuated) side provides global convergence to origin. analysis based on Lyapunov approach. Copyright © 2000 John Wiley & Sons, Ltd.

This paper presents recent work concerning a small tiltrotor aircraft with reduced number of rotors. After several attempts, the final design consists two propellers mounted laterally. The direction thrust can be redirected by tilting laterally and longitudinally. A theoretical analysis this mechanism proves its effectiveness experimental results show that aerodynamical configuration is very promising. model full birotor dynamics also presented in controller based on backstepping procedure...

This paper describes the design and control algorithm of an original configuration for a small aerial vehicle having three rotors with fixed-pitch propellers. The mechanism forces moments generation is described compared other vertical take-off landing (VTOL) vehicles. A mathematical model body-forces process as well 6-DOF (degree freedom) krotorcraft dynamics presented. stabilization proposed which takes into account input amplitude bounds nonlinear couplings in three-rotor dynamics....

Cooperation between road vehicles through information exchange is a promising way to enhance their absolute and relative positions. This paper presents an approach for generating, sharing applying Global Navigation Satellite System (GNSS) pseudorange corrections V2X communication network. Conventionally, differential are generated by fixed base stations with known positions sent mobile users. Here, the proposed cooperative method has no central server estimation of raw measurements errors...

The authors interest in this work is to perform a precise real‐time flocking of multiple unmanned aerial vehicles (UAVs). A consensus‐based algorithm that ensures security distance between UAVs proposed. By using Lyapunov theoretical analysis, the propose ultimate boundedness multiple‐UAV system solutions. Moreover, enhanced by distributed integral control renders inter‐distances more precise. Finally, experimental results are provided prove and show efficiency these algorithms.

ABSTRACT This paper considers actuator redundancy management for a redundant multirotor Unmanned Aerial Vehicle (UAV) under actuators failures. Different approaches are proposed: using robust control (passive fault tolerance), and reconfigurable (active tolerance). The controller is designed high-order super-twisting sliding mode techniques, handles the failures without requiring information from Fault Detection scheme. Active Fault-Tolerant Control (AFTC) achieved through redistributing...