4 papers
Nonlinear Model Identification and Observer Design for Thrust Estimation of Small-scale Turbojet Engines
Affaf Junaid Ahamad Momin, Gabriele Nava, Giuseppe LErario +5
Jet-powered vertical takeoff and landing (VTOL) drones require precise thrust estimation to ensure adequate stability margins and robust maneuvering. Small-scale turbojets have bec…
Centroidal Aerodynamic Modeling and Control of Flying Multibody Robots
Tong Hui, Antonello Paolino, Gabriele Nava +5
This paper presents a modeling and control framework for multibody flying robots subject to non-negligible aerodynamic forces acting on the centroidal dynamics. First, aerodynamic…
Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment
Giulio Romualdi, Stefano Dafarra, Giuseppe L'Erario +3
This paper presents a Non-Linear Model Predictive Controller for humanoid robot locomotion with online step adjustment capabilities. The proposed controller considers the Centroida…
Modeling, Identification and Control of Model Jet Engines for Jet Powered Robotics
Giuseppe L'Erario, Luca Fiorio, Gabriele Nava +5
The paper contributes towards the modeling, identification, and control of model jet engines. We propose a nonlinear, second order model in order to capture the model jet engines g…