This paper investigates the problem of controlling a team of Quadrotors that cooperatively transport a common payload. The main contribution of this study is to propose a cooperative control algorithm based on a decentralized algorithm. This strategy is comprised of two main steps: the first one is calculating the basic control vectors for each Quadrotor using Moore–Penrose theory aiming at coo...

Aim of this paper is to develop a new technique, based on the Baire category theorem, in order to establish the closure of reachable sets and the existence of optimal trajectories for control systems, without the usual convexity assumptions. The bangbang property is proved for a new class of “concave” multifunctions, characterized by the existence of suitable linear selections. The proofs rely ...

Given a weakly uniformly globally asymptotically stable closed (not necessarily compact) set A for a differential inclusion that is defined on Rn, is locally Lipschitz on Rn\A, and satisfies other basic conditions, we construct a weak Lyapunov function that is locally Lipschitz on Rn. Using this result, we show that uniform global asymptotic controllability to a closed (not necessarily compact)...

Although adaptive control theory offers mathematical tools to achieve required system performance without excessive dependence on modeling, its application to safety-critical systems can be limited by the presence of unmodeled dynamics. This paper examines the robustness to unmodeled dynamics of a recently developedderivativefree adaptive control law. In contrast to derivative-based adaptive la...