Distributed backstepping control of multiple thrust-propelled vehicles on a balanced graph

Motion Coordination of Thrust-Propelled Underactuated Vehicles in the Presence of Communication Delays

This paper addresses the coordinated control problem of underactuated thrustpropelled vehicles in the presence of irregular communication delays under a directed communication graph topology. We propose a distributed control algorithm that drives the vehicles to a prescribed formation provided that the communication graph contains a spanning tree. Using the multi-dimensional small-gain approach...

Control of Thrust-Propelled Underactuated Vehicles

Nonlinear Feedback Control of Axisymmetric Aerial Vehicles

We investigate the use of simple aerodynamic models for the feedback control of underactuated aerial vehicles flying with large flight envelopes. Thrust-propelled vehicles with a body shape symmetric with respect to the thrust axis are considered. Upon a condition on the aerodynamic characteristics of the vehicle, we show that the equilibrium orientation can be explicitly determined as a functi...

Adaptive attitude controller of a reentry vehicles based on Back-stepping Dynamic inversion method

This paper presents an attitude control algorithm for a Reusable Launch Vehicle (RLV) with a low lift/drag ratio (L/D < 0.5), in the presence of external disturbances, model uncertainties, control output constraints and the thruster model. The main novelty of proposed control strategy is a new combination of the attitude control methods included backstepping, dynamic inversion and adaptive cont...

Passivity-based adaptive backstepping control of quadrotor-type UAVs

We propose a novel unified passivity-based adaptive backstepping control framework for ‘‘mixed’’ quadrotor-type unmanned aerial vehicles (UAVs), which consists of the translation dynamics with thrust force input λ ∈ R and the attitude kinematics with the angular velocity input w ∈ R3 evolving on SE(3). We also show how our proposed unified framework can be used for velocity field following, tim...