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This paper describes the design of fault diagnosis and active fault tolerant control schemes that can be developed for nonlinear systems. The methodology is based on a fault detection and diagnosis procedure relying on adaptive filters designed via the nonlinear geometric approach, which allows obtaining the disturbance de-coupling property. The controller(More)
An architecture suitable for the control of multiple unmanned aerial vehicles deployed in Search & Rescue missions is presented in this paper. In the proposed system, a single colocated human operator is able to coordinate the actions of a set of robots in order to retrieve relevant information of the environment. This work is framed in the context of(More)
This work proposes a feedback control strategy to let the dynamics of an under-actuated Vertical TakeOff and Landing (VTOL) aerial vehicle to track a desired trajectory thanks to an adaptive robust compensation of the aerodynamic disturbances. The novelty of the proposed approach consists in employing an aerodynamic disturbance observer derived using the(More)
This paper presents a novel approach to the longitudinal guidance and control issue for an aircraft in presence of wind shear. The main contribution concerns the adaptive estimation of the wind shear disturbances affecting the aircraft and the development of a control scheme suitable to compensate these effects during a precision approach procedure. The(More)
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