3 accepted papers
We examine the problem of agile trajectory tracking for a quadrotor vehicle with bidirectional thrust capabilities. A time-dependent linearization of the dynamics is presented based on the Lie algebra of <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/19
We present two novel nonlinear MPC formulations for reduced attitude tracking on quadrotors with bidirectional thrust capabilities. Reduced attitude tracking is relevant to recovery from partial thrust loss, which can occur due to the failure of one or more motors. The first formulation builds on a…
We consider the problem of collaborative transport of a payload using several quadrotor vehicles. The payload is assumed to be a rigid body and is attached to the vehicles with rigid rods. The model of the system is presented and is employed to formulate a Model Predictive Controller. The centralize…