2 citations · 3 across the 9 of their papers we have counts for
9 papers
The Robust Gait of a Tilt-rotor and Its Application to Tracking Control -- Application of Two Color Map Theorem
Zhe Shen, Takeshi Tsuchiya
Rylls tilt-rotor is a UAV with eight inputs; the four magnitudes of the thrusts as well as four tilting angles of the thrusts can be specified in need, e.g., based on a control rul…
Generalized Two Color Map Theorem -- Complete Theorem of Robust Gait Plan for a Tilt-rotor
Zhe Shen, Yudong Ma, Takeshi Tsuchiya
Gait plan is a procedure that is typically applied on the ground robots, e.g., quadrupedal robots; the tilt-rotor, a novel type of quadrotor with eight inputs, is not one of them.…
Four-dimensional Gait Surfaces for A Tilt-rotor -- Two Color Map Theorem
Zhe Shen, Yudong Ma, Takeshi Tsuchiya
This article presents the four-dimensional surfaces which instruct the gait plan for a tilt-rotor. The previous gaits analyzed in the tilt-rotor research are inspired by animals; n…
Feedback Linearization Based Tracking Control of A Tilt-rotor with Cat-trot Gait Plan
Zhe Shen, Yudong Ma, Takeshi Tsuchiya
With the introduction of the laterally bounded forces, the tilt-rotor gains more flexibility in the controller design. Typical feedback linearization methods utilize all the inputs…
Cat-inspired Gaits for A Tilt-rotor -- from Symmetrical to Asymmetrical
Zhe Shen, Takeshi Tsuchiya
Among the tilt-rotors (quadrotors) developed in the last decades, Rylls model with eight inputs (four magnitudes of the thrusts and four tilting angles) attracted great attention.…
Flight Control System Design for Autonomous Aerial Surveys of Volcanoes
Zhe Shen
The controller for a quadrotor working in severe environment is developed in this study. Here, the severe environment indicates the temperature-varying air near the volcano. The co…
Singular Zone in Quadrotor Yaw-Position Feedback Linearization
Zhe Shen, Takeshi Tsuchiya
It is well known that the conventional quadrotor is an under-actuated MIMO system. The number of the inputs is less than the degree of freedom. One approach in controlling this non…
The Pareto-frontier-based Stiffness of A Controller: Trade-off between Trajectory Plan and Controller Design
Zhe Shen, Takeshi Tsuchiya
Approaching a set goal for a UAV comprises a trajectory plan and a controller design (control after plan problems). The optimal trajectory (reference) is calculated before being tr…
A Novel Formula Calculating the Dynamic State Error and Its Application in UAV Tracking Control Problem
Zhe Shen, Takeshi Tsuchiya
This paper gives a novel formula (Copenhagen Limit) to calculate/estimate the dynamic state error of a system without a feedforward signal. Copenhagen Limit is in the form of a lim…