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Passivity-based control of VToL UAVs with a momentum-based estimator of external wrench and unmodeled dynamics.
Fabio Ruggiero
Jonathan Cacace
Hamid Sadeghian
Vincenzo Lippiello
Published in:
Robotics Auton. Syst. (2015)
Keyphrases
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unmanned aerial vehicles
air fuel ratio
adaptive neural
control system
impedance control
aerial vehicles
least squares
control method
dynamical systems
sliding mode
trajectory tracking
neural network
dynamic model
control theory
radial basis function
highly nonlinear
dynamic environments