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The initial state of an Unmanned Aerial Vehicle (UAV) system and the relative state of the system, the continuous inputs of each flight unit are piecewise linear by a Control Parameterization and Time Discretization (CPTD) method. The approximation piecewise linearization control inputs are used to substitute for the continuous inputs. In this way, the(More)
Unmanned aerial vehicles (UAVs) are highly focused and widely used in various domains, and the capability of autonomous aerial refueling (AAR) becomes increasingly important. Most of the research in this area concerns the verification of the algorithms while the experiments are conducted on the ground. In this work, in order to verify the vision system(More)
This paper presents a formation control framework based on an integrated position sensor system, including two cameras and several inertial sensors, for Unmanned Aerial Vehicles (UAVs) to fly outdoors. A sliding mode controller provides the desired orientation for the UAV to track a desired trajectory. The flight control system takes into account the(More)
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