7 accepted papers
Accurate tracking control of agile quadrotors is challenging because of complicated aerodynamic effects. In this letter, we develop a tunable event-triggered learning-based control framework for quadrotors to achieve agile trajectory tracking in the presence of aerodynamic effects. A novel Gaussian
The safety issue arises as one of the most important requirements for autonomous quadrotor flight. Recently, control barrier function (CBF) technique has been developed to provide necessary and sufficient conditions on safety for robot systems. Previous works unified CBF with control techniques in a
When multiple quadrotors fly in a cluttered environment, collision-free flight must be assured. In this paper, we propose a novel elastic safety clearance based model predictive control (ESC-MPC) for multiple maneuverable quadrotors to avoid collisions in the presence of disturbance. This is accompl…
Insulator visual aiming is difficult for washing drone due to the complex washing environment, strong dis-turbance, lack of debugging environment, and other factors. Conventional visual servo control methods often fail to consider these complex factors adequately and fall short in reliable insulator…
Disturbance mainly caused by recoil force in-evitably makes washing drone seriously deviate from the desired position, thereby reducing the cleaning efficiency. It is neces-sary to develop an effective anti-disturbance control method. Although some progresses have been made, the position error there…
Electromagnetically actuated microparticles can be widely applied in the field of biomedicine, for its advantages of minimally invasive feature and approachability to complex microenvironments. In this paper, we propose a robust feedback control approach for precise 3D manipulation of a microparticl…
Precise manipulation of microparticles has received considerable attention for its great potential applications to clinical medicine. Among the existing manipulation techniques, the method of magnetic force based manipulation exhibits great advantages for its minimally-invasive feature and insensiti…