Publicaties

© 2019 Elsevier Masson SAS This paper addresses a methodology for autonomous motion planning of multirotor aircraft in obstructed environments. The control strategy allows the vehicle to online generate quasi-optimal trajectories with limited computational load while performing collision avoidance tasks. The problem is formulated in a model-predictive control architecture in which motion planning and trajectory tracking processes are solved ...

© 2018 Elsevier Masson SAS This paper presents a trajectory control strategy for a multirotor aircraft carrying a suspended load. The load is modeled as a pendulum connected by a rigid link to the center of gravity of the vehicle. Starting from the dynamic equations describing the motion of the coupled vehicle slung-load systems, a nonlinear controller is proposed that simultaneously performs trajectory tracking and payload swing damping. ...

© 2018 Elsevier Masson SAS An analytical and experimental framework addressing formation control of multirotor aircraft with collision avoidance capability is developed and presented. The proposed strategy applies to a formation of cooperating vehicles under the assumption of a broadcast transmission of position data. Starting from the point-mass dynamic model of the single aircraft in the formation, a set of constraints on the vehicles position ...

This paper shows an ambitious methodology of autonomous navigation for multirotor UAVs in obstructed environments. The following strategy was formulated to ensure to ultirotor vehicles the capability to produce autonomously quasi-optimal and safe trajectories, although generally they have at their disposal limited computational resources on board. The problem is formuled in a model predictive control (MPC) architecture in which motion planning ...

A smooth time-invariant wheel rate command is defined, based on angular momentum balance considerations, which causes the spacecraft to rotate approximately about the admissible rotation axis, which is lying on the plane identified by the two RW axes, implementing the kinematic planning scheme at a dynamic level. Convergence toward the prescribed alignment under the action of the proposed control law is proven using a Lyapunov approach, ...

© 2016 Elsevier Masson SAS This paper presents an analytical and experimental framework for investigating the performance of fixed-wing electrically-driven propeller aircraft. After the experimental derivation of a novel constant power discharge model for lithium-polymer (Li-Po) batteries, closed-form expressions for flight endurance and range are derived by equating power required in steady level flight with power supplied by the battery pack. ...

© 2016 Elsevier Masson SAS In a recent work by the authors the concept of Fading Gaussian Deterministic filter was investigated. The algorithm is based on a set of equations derived from the minimization of a cost function where earlier data are progressively de-weighted by a fading factor. In such a way, the estimation was proved to be less prone to problem unknowns. A tuning procedure was proposed that allows the resulting globally best ...

© Institution of Mechanical Engineers. The paper presents a set of visual AIDS for enhancing remote pilot perception of potential violations of allowed fly areas or conflicts with conventional air traffic when operating remotely piloted aerial vehicles. Assuming a video stream from an on-board camera is available to the remote pilot, visual AIDS are provided in a head-up display modality by means of reality augmentation techniques. The main ...

© 2016 IAA. Published by Elsevier Ltd. All rights reserved. The paper investigates the dynamic behavior of a spacecraft when a single magnetic torque-rod is used for achieving a pure spin condition by means of the so-called Y-dot control law. Global asymptotic convergence to a pure spin condition is proven on analytical grounds when the dipole moment is proportional to the rate of variation of the component of the magnetic field along the ...

© Copyright 2015 by the American Institute of Aeronautics and Astronautics, Inc. The aim of this paper is the analysis of simultaneous attitude control and momentum-wheel management of a spacecraft by means of magnetic actuators only. A proof of almost global asymptotic stability is derived for control laws that drive a rigid satellite toward attitude stabilization in the orbit frame when the momentum wheel is aligned with one of the principal ...