Aerial manipulation aims at combining the versatility and the agility of some aerial platforms
with the manipulation capabilities of robotic arms. This letter tries to collect the results …

The problem of navigating an unmanned aerial vehicle (UAV) in an unknown environment is
addressed with a novel model predictive control (MPC) formulation, named multitrajectory …

Hybrid ground and aerial vehicles can possess distinct advantages over ground-only or
flight-only designs in terms of energy savings and increased mobility. In this work we outline …

A passivity-based control of Vertical Take-off and Landing (VToL) Unmanned Aerial
Vehicles (UAVs) is presented in this paper. An estimator of unmodeled dynamics and …

This work proposes an NMPC scheme for stabilizing multicopter dynamics with semi-
globally asymptotic stability guarantees. Recurrent issues in the state of the art, such as the …

A class of tethered unmanned aerial vehicles is considered, featuring a chain of multicopter
drones tethered one to the other. Differently from previous contributions in the literature, here …

Differential flatness has been used to provide diffeomorphic transformations for non-linear
dynamics to become a linear controllable system. This greatly simplifies the control …

In this paper the modeling and control law design for a quadcopter tiltorotor UAV are
considered. The problem is developed in a geometric setting to obtain an intrinsic control …

This paper addresses the trajectory tracking problem for a quadcopter system under nominal
and fault-affected scenarios (in the latter case, due to stuck actuator (s)). Differential flatness …

The paper presents a new approach for trajectory tracking in a quadrotor-type helicopter.
The proposed closed-form control schemes apply smooth bounded hyperbolic functions of …