Event-triggered control is a resource-aware sampling strategy that updates the control value only when a certain condition is satisfied, which denotes event instants. Such a technique allows to reduce the control computational cost and communications. In this paper, a quaternion-based feedback is developed for event-triggered attitude stabilization of a quadrotor mini-helicopter. The feedback i...

The MIT Faculty has made this article openly available. Please share how this access benefits you. Your story matters. Adaptive control techniques have the potential to address many of the special performance and robustness requirements of flight control for unmanned aerial vehicles. L 1 adaptive control offers potential benefits in terms of performance and robustness. An L 1 adaptive output fe...

Abstract: This paper presents a nonlinear H∞ control law for underactuated mechanical systems with input coupling. Apart from the controlled degrees of freedom (DOF), the proposed controller considers the dynamics of the remaining DOF in the cost variable, which allows to stabilize them. The underactuated mechanical system is normalized to obtain a diagonal inertia matrix allowing to weigh with...

This paper addresses a parameter synthesis problem for nonlinear hybrid systems. Considering a set of uncertain parameters and a safety property, we give an algorithm that returns a partition of the set of parameters into subsets classified as safe, unsafe, or uncertain, depending on whether respectively all, none, or some of their behaviors satisfy the safety property. We make use of sensitivi...

OS4 (Omnidirectional Stationary Flying OUtstretched Robot) is an electrically powered four-rotor miniature helicopter developed towards fully autonomous operation in indoor/outdoor environments. The major goal of this research is the development and implementation of an active control system for a quadrotor helicopter. However, one has to consider seriously the design aspect in order to get rid...