3 accepted papers
We present a global controller for tracking nominal trajectories with a flying wing tailsitter vehicle. The control strategy is based on a first-principles model of the vehicle dynamics that captures all relevant aerodynamic effects, and we apply an onboard parameter learning scheme in order to esti…
We present the design and implementation of a small Vertical-Take-Off-and-Landing (VTOL) aircraft. The vehicle requires minimal additional components to achieve the hover capability and is thus very efficient in forward flight. We improve over the state of the art by using a single controller in all…
This paper presents a method that enables highspeed, steady flight in confined spaces for tethered quadrocopters. Thanks to the centripetal force exerted by the tether, high-speed trajectories along circles at different velocities, accelerations, and orientations in space can be flown. Various circu…