Tendon-Sheath Mechanisms in Flexible Membrane Wing Mini-UAVs: Control and Performance

Simulation and Control of Mini UAVs

The capabilities to perform missions in hostile and/or hardly accessible areas reducing human risks are responsible of the growing interest in Uninhabited Air Vehicles (UAVs) characterizing the last years. Recent advances in Information and Communication Technologies have allowed to scale sizes of uninhabited aerial platforms, and hence to perform mission profiles not possible for conventional ...

Randomization-based control design for Mini-UAVs

The area of research on probabilistic and randomized methods for analysis and design of uncertain systems is fairly recent and is focused both on algorithmic as well as theoretical developments. In this paper a framework for randomization-based control design is presented and applied to a Mini-UAV platform. The proposed approach makes use of random search and uncertainty randomization for contr...

Hysteresis modeling and position control of tendon-sheath mechanism in flexible endoscopic systems

Performance Optimizing Gust Load Alleviation Control of Flexible Wing Aircraft

This paper details a control design for flexible wing aircraft that attempts to minimize the load induced by gust disturbance. Wing root bending moment is taken as an available measure of gust load and is used in a performance optimizing cost function to determine the load-alleviating control signal. However, both the disturbance signal and system matrices associated with wing root bending mome...

Model Predictive Control for a Swarm of Fixed Wing Uavs

This paper describes an algorithm for the control of a swarm of UAVs based on decentralized MPC. For each UAV, our algorithm first determines the trajectory taking into account the obstacles and the constraints on the aircraft performance. Then basing on a robust MPC algorithm, optimal guidance laws are calculated and tracked by the UAVs by means of local PIDs controllers. Our approach also all...