Control of VTOL vehicles with thrust-tilting augmentation

Control of VTOL vehicles with thrust-tilting augmentation

An approach to the control of a VTOL vehicle equipped with complementary thrusttilting capabilities that nominally yield full actuation of the vehicle’s position and attitude is developed. The particularity and difficulty of the control problem are epitomized by the existence of a maximum tilting angle which forbids complete and decoupled control of the vehicle’s position and attitude in all si...

Formation control of VTOL Unmanned Aerial Vehicles with communication delays

The formation control problem of a team of Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicles (UAVs) with communication delays is addressed. Based on the extraction algorithm presented in Abdessameud and Tayebi (2010a), we propose a new design methodology that simplifies the design of formation control laws with delayed communication for this class of under-actuated systems. Three co...

Control of Thrust-Propelled Underactuated Vehicles

Advanced Control Strategies for Tilting Railway Vehicles

This paper presents the findings of the first stage of a fundamental study of the tilt control problem. A tilting railway vehicle is described via appropriate modelling and a frequency domain analysis illustrates the problems associated with straightforward feedback control. A Kalman-Bucy filter is developed based on 3 inertial measurements (body lateral acceleration, roll and yaw rate) to prov...

Introduction to Feedback Control of Underactuated VTOL Vehicles

The paper is an introduction to feedback control design for a family of robotic aerial vehicles with Vertical TakeOff and Landing (VTOL) capabilities such as quadrotors, ductedfan tail-sitters, helicopters, etc. Potential applications for such devices, like surveillance, monitoring, or mapping, are varied and numerous. For these applications to emerge, motion control algorithms that guarantee a...