4 papers · 1 filter
Robust Variable-Horizon MPC for Landing a Multirotor UAV on a Moving Platform
Sander Doodeman, Niels Berkers, Paula Chanfreut +2
Landing a multirotor Unmanned Aerial Vehicle (UAV) on a moving platform is challenging because a UAV is underactuated and the desired landing state is generally a non-equilibrium s…
Onboard Wind-Preview Model Predictive Control Using Pitot-Static Sensing for Multirotor UAVs
Bas Meere, Eline Wisse, Laurens Vousten +4
Effective wind gust rejection and stable hovering are critical for the outdoor operation of autonomous drones. However, existing gust rejection methods are primarily reactive, infe…
Visualizing Impedance Control in Augmented Reality for Teleoperation: Design and User Evaluation
Gijs van den Brandt, Femke van Beek, Elena Torta
Teleoperation for contact-rich manipulation remains challenging, especially when using low-cost, motion-only interfaces that provide no haptic feedback. Virtual reality controllers…
Zero Dynamics Stability of a Multirotor UAV with a Heavy Payload
Sander Doodeman, Paula Chanfreut Palacio, Elena Torta +1
This paper studies the zero dynamics stability of a multirotor Unmanned Aerial Vehicle (UAV) carrying a rigidly attached heavy payload. In particular, we focus on controlling the p…