In this letter, we prove that the dynamical model of a quadrotor subject to linear rotor drag
effects is differentially flat in its position and heading. We use this property to compute …

This paper presents a multiple observers based anti-disturbance control (MOBADC) scheme
against multiple disturbances for a quadrotor unmanned aerial vehicle (UAV). The quadrotor …

This paper presents a Robust Constrained Learning-based Nonlinear Model Predictive
Control (RC-LB-NMPC) algorithm for path-tracking in off-road terrain. For mobile robots …

Quadrotors are well suited for executing fast maneuvers with high accelerations but they are
still unable to follow a fast trajectory with centimeter accuracy without iteratively learning it …

While nanopositioners often use flexures for high quality motion avoiding nonlinearities, the
achievable motion range and energy efficiency are limited, due to the force required for …

Aerial transportation is enjoying more and more popularity among disaster-oriented tasks,
such as fire fighting, delivery of relief supplies, life-saving aid, and so on, which are …

This article provides a new method for trajectory tracking for quadcopters following a
cascaded control approach with formal closed-loop tracking guarantees. An outer-loop …

Inspired by the aerial prowess of flying insects, we demonstrate that their robotic counterpart,
an insect-scale flapping-wing robot, can mimic an aggressive maneuver seen in natural …

The goal of this work is to enable a team of quadrotors to learn how to accurately track a
desired trajectory while holding a given formation. We solve this problem in a distributed …

One of the major challenges of automated systems is attributed to the interaction task. This
process involves external forces which may be dangerous, for example in an unmanned …