This work addresses the problem of fault detection and diagnosis (FDD) for a quad-rotor mini aerial vehicle (MAV). Actuator faults are considered on this paper. The basic idea behind the proposed method is to estimate the faults signals using the extended state observers theory. To estimate the faults, a polynomial observer is presented by using the available measurements and know inputs of the...

In this paper we present a framework for the real-time control of lightweight autonomous vehicles which comprehends a proposed hardand software design. The system can be used for many kinds of vehicles and offers high computing power and flexibility in respect of the control algorithms and additional application dependent tasks. It was originally developed to control a small quad-rotor UAV wher...

A 3D extension of the leader–follower approach of formation trajectory planning, applicable for a formation of autonomous quad–rotor Unmanned Aerial Vehicles, is presented in this thesis. The proposed trajectory planning approach is based on the Model Predictive Control (MPC) method. The implemented system is suitable for deployment of groups of flying robots in environment with static as well ...

Real-time optimal control has eluded practical implementation for most systems so far. The reason being mainly related to the scarce computational resources available and the high CPU requirements of commonly proposed real-time optimal control architectures. In this paper we show how, by a careful use of the Nonlinear Model Predictive Control approach one can obtain a real-time control system a...

This work presents the results of an effort to create a high performance quad-rotor MAV named iQCopter for research in the field of swarm robotics and vision-based autonomous operation. During the design, navigational and computational capabilities have been of major priority. A distinctive feature of the iQCopter is its layered system architecture using a comparably powerful, hard real-time ca...

Quad-plane is a popular type of electric vertical and takeoff/landing (eVTOL) vehicle that hybridizes quadrotor fixed-wing airplane. However, the mechanical simplicity quad-plane also makes it vulnerable to rotor failures. When complete fails, becomes physically impossible stop from fast yaw spinning, which further induces considerable abnormal aerodynamic forces moments on wing. In this paper,...

in this paper‎, ‎we consider the following kirchhoff-type equations‎: ‎$-‎left(a+bint_{mathbb{r}^{3}}|nabla u|^{2}right)delta u+v(x) u=lambda$ $f(x,u)+u^{5}‎, ‎quad mbox{in }mathbb{r}^{3},$ ‎$u(x)>0‎, ‎quad mbox{in }mathbb{r}^{3},$ ‎$uin h^{1}(mathbb{r}^{3})‎ ,‎$ ‎ ‎‎‎where $a,b>0$ are constants and $lambda$ is a positive parameter‎. ‎the aim of this paper is to study the existence of positive ...