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This paper presents a nonlinear robust control strategy to solve the path tracking problem for a quadrotor unmanned aerial vehicle. The helicopter motion equations is obtained by the LagrangeEuler formalism. The control structure is performed through a nonlinear H∞ controller to stabilize the rotational movements and a control law based on backstepping(More)
This paper presents a model predictive controller (MPC) structure for solving the path-tracking problem of terrestrial autonomous vehicles. To achieve the desired performance during high-speed driving, the controller architecture considers both the kinematic and the dynamic control in a cascade structure. Our study contains a comparative study between two(More)
The IEEE RAS Ontologies for Robotics and Automation Working Group is dedicated to developing a methodology for knowledge representation and reasoning in robotics and automation. As part of this working group, the Autonomous Robots sub-group is tasked with developing ontology modules for autonomous robots. This paper describes the work in progress on the(More)
This paper presents a nonlinear H ∞ control law for underactuated mechanical systems with input coupling. Apart from the controlled degrees of freedom (DOF), the proposed controller considers the dynamics of the remaining DOF in the cost variable, which allows to stabilize them. The underactuated mechanical system is normalized to obtain a diagonal inertia(More)
This paper describes a low cost wireless communication infrastructure designed for a short-range Unmanned Aerial Vehicle (UAV). It aims at providing a communication link between the UAV and a base station and also additional links that may allow collecting data from a remote Wireless Sensor Network (WSN). The challenge here is using the same hardware to(More)
The paper proposes a nonlinear control approach for the underactuated hovercraft model based on differential flatness theory and using a new nonlinear state vector and disturbances estimation method under the name of Derivative-free nonlinear Kalman Filter. It is proven that the sixth order nonlinear model of the hovercraft is a differentially flat one. It(More)
— This paper presents the modeling and control of a Unmanned Aerial Vehicle (UAV) to execute tasks of load transportation along a desired trajectory. The system modeling is performed via Euler-Lagrange formulation considering both dynamics of the UAV in Tiltrotor configuration and of the carried load. In order to design linear control laws, the equations of(More)