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An Introduction to Nonlinear Robust Control for Unmanned Quadrotor Aircraft: How to Design Control Algorithms for Quadrotors Using Sliding Mode Control and Adaptive Control Techniques [Focus on
This article presents and analyzes the equations of motion of quadrotors under three sets of progressively restrictive modeling assumptions: 1) the vehicle’s inertial properties vary in time, 2) the quadrotor's main frame is a rigid body and the propellers are thin spinning discs, and 3) the pitch and roll angles are small. Expand
Constrained Robust Model Reference Adaptive Control of a Tilt-Rotor Quadcopter Pulling an Unmodeled Cart
This article presents an innovative control architecture for tilt-rotor quadcopters with H-configuration transporting unknown, sling payloads that employs barrier Lyapunov functions and a novel robust model reference adaptive control law to guarantee a priori user-defined constraints on both the trajectory tracking error and the control input, despite poor information on the aircraft's inertial properties and the presence of unknown, unsteady payloads. Expand
The Unsolvable Fracture
Robust Adaptive Control for Constrained Tilt-Rotor Quadcopters of Unknown Inertial Properties
This analysis is the first to show a nonlinear effect in the vehicle's rotational dynamics due to the fact that not all propellers of a tilt-rotor are aligned to one of the vehicles's principal axes. Expand
Generating Survey Plans for Autonomous Robots using Source and Instrumentation Data
This paper reviews components for generating survey plans for a robotic system at UT Austin used autonomously survey safety travel corridors, laboratory spaces, and other areas that require routineExpand
Vaultbot ROS Package