In this paper, an infinite-horizon adaptive linear quadratic tracking (ALQT) control scheme is designed for optimal attitude of a quadrotor unmanned aerial vehicle (UAV). The proposed experimentally validated in the presence real-world uncertainties system parameters and sensor measurement. guarantees asymptotic stability close-loop with help complete controllability dynamics applying signals. To achieve robustness against parametric uncertainties, solution combined online least squares...

Occupancy monitoring (OM) and the localization of individuals within indoor environments using wearable devices offer a very promising data communication solution in applications such as home automation, smart office management, outbreak monitoring, emergency operating plans. OM is challenging when developing solutions that focus on reduced power consumption cost. Bluetooth low energy (BLE) technology energy- cost-efficient compared to other technologies. Integrating BLE Received Signal...

This study presents a nonlinear tracking control design for quadrotor unmanned aerial vehicle (UAV) with two-layer architecture. In order to facilitate the design, decoupled dynamic model is derived UAV. Backstepping method employed stabilize closed-loop system and achieve output tracking. The structure has high-level layer producing guiding state trajectories, low-level in both altitude attitude dynamics. designed scheme can well handle nonlinearities as drag effects, be directly...

In this study, we focus on real-time implementations of a practical distributed adaptive formation control scheme for multi-quadrotor system with uncertain inertial parameters. We design decentralized controller based the leader-follower approach to motion such in rigid formation. The proposed has two-level structure: At high level, is designed kinematic problem. low-level, analyze each single quadrotor three parts. first an linear quadratic under consideration uncertainties pitch and roll...

This paper focuses on coordination of multi-agent systems with agents having holonomic nonlinear dynamics and uncertain system parameters. An indirect adaptive control scheme composed a parameter estimator feedback-linearization based law is designed the certainty equivalence principle. (i) Simple linear (ii) sliding mode structures are used in outer loop. The controllers successfully satisfy objectives formation maintenance trajectory tracking. Simulation results for sample two-dimensional...

A hierarchical, decentralized controller is synthesized to control a swarm of three unmanned aerial vehicle agents move in rigid formation on plane for surveillance. First, lateral dynamic model an individual agent derived. Then, assuming constant speed restriction, the task approached considering two-level structure: low-level and high-level. direct reference adaptive designed low-level, while high-level switching logic used different cases inter-agent distances. The effect values discussed...

In this study, a novel multiple model adaptive control scheme is designed and implemented for quadrotor unmanned aerial vehicles (UAVs). The proposed involves mixing controller that blends set of pre-designed linear quadratic controllers. A particular goal the design guaranteeing robustness in lateral motion against modeling uncertainties. tested via real-time experiments on Quanser Qball-X4 UAVs. experimental results verify efficiency scheme.

Awareness coverage control for multiple targets in a large-scale mission domain is considered this work. Most previous results require prior knowledge of the loss awareness to design controllers guarantee desired state can be achieved. Other studies neglect awareness, so that dynamics solved and solution used as feedback controllers. Uncertain lead unexpected variation even when target covered by agents, strategies tackle uncertain still unclear. To eliminate need extend more general...