162 citations · 243 across the 8 of their papers we have counts for
9 papers
Robust Controller Design For INDI-Controlled Quadrotor Using Online Parameter Identification
Tom Aantjes, Till M. Blaha, Spilios Theodoulis +1
It has recently been shown that all physical parameters of an Incremental Nonlinear Dynamic Inversion (INDI) controller can be estimated onboard a multirotor within half a second,…
Design and Control of A Tilt-Rotor Tailsitter Aircraft with Pivoting VTOL Capability
Ziqing Ma, Ewoud J. J. Smeur, Guido C. H. E. de Croon
Tailsitter aircraft attract considerable interest due to their capabilities of both agile hover and high speed forward flight. However, traditional tailsitters that use aerodynamic…
Flying a Quadrotor with Unknown Actuators and Sensor Configuration
Till M. Blaha, Ewoud J. J. Smeur, Bart D. W. Remes +1
Though control algorithms for multirotor Unmanned Air Vehicle (UAV) are well understood, the configuration, parameter estimation, and tuning of flight control algorithms takes quit…
Control of Unknown Quadrotors from a Single Throw
Till M. Blaha, Ewoud J. J. Smeur, Bart D. W. Remes
This paper presents a method to recover quadrotor UAV from a throw, when no control parameters are known before the throw. We leverage the availability of high-frequency rotor spee…
Unified incremental nonlinear controller for the transition control of a hybrid dual-axis tilting rotor quad-plane
Alessandro Mancinelli, Bart D. W. Remes, Guido C. H. E. de Croon +1
Overactuated Tilt Rotor Unmanned Aerial Vehicles are renowned for exceptional wind resistance and a broad operational range, which poses complex control challenges due to non-affin…
Non-Linear Dynamic Inversion with Actuator Dynamics: an Incremental Control Perspective
Rasmus Steffensen, Agnes Steinert, Ewoud Jan Jacob Smeur
In this paper, we derive a sensor based Nonlinear Dynamic Inversion (NDI) control law for a nonlinear system with first-order linear actuators, and compare it to Incremental Nonlin…
Flexible collaborative transportation by a team of rotorcraft
Hector Garcia de Marina, Ewoud Smeur
We propose a combined method for the collaborative transportation of a suspended payload by a team of rotorcraft. A recent distance-based formation-motion control algorithm based o…
Incremental Control and Guidance of Hybrid Aircraft Applied to a Tailsitter UAV
E. J. J. Smeur, M. Bronz, G. C. H. E. de Croon
Hybrid unmanned aircraft can significantly increase the potential of micro air vehicles, because they combine hovering capability with a wing for fast and efficient forward flight.…
Cascaded Incremental Nonlinear Dynamic Inversion Control for MAV Disturbance Rejection
Ewoud J. J. Smeur, Guido C. H. E. de Croon, Qiping Chu
Micro Aerial Vehicles (MAVs) are limited in their operation outdoors near obstacles by their ability to withstand wind gusts. Currently widespread position control methods such as…