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Article
Open AccessIntrinsic Nonlinear Elasticity: An Exterior Calculus Formulation
In this paper, we formulate the theory of nonlinear elasticity in a geometrically intrinsic manner using exterior calculus and bundle-valued differential forms. We represent kinematics variables, such as veloc...
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Chapter and Conference Paper
On the Use of Energy Tanks for Robotic Systems
In this document we describe and discuss energy tanks, a control algorithm which has gained popularity inside the robotics and control community over the last years. This article has the threefold scope of i) int...
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Article
Correction to: A geometric formulation of multirotor aerial vehicle dynamics
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Article
A geometric formulation of multirotor aerial vehicle dynamics
A geometric dynamic modeling framework for generic multirotor aerial vehicles (MAV), based on a modern Lie group formulation of classical screw theory, is presented. Our framework allows for a broad range of r...
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Article
Observer-based Geometric Impedance Control of a Fully-Actuated Hexarotor for Physical Sliding Interaction with Unknown Generic Surfaces
Aerial physical interaction is a promising field for unmanned aerial vehicles in future applications. This paper presents a novel paradigm for automatic aerial contact-based sliding interaction (inspection/cle...
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Chapter
Ocular Disease in Stevens-Johnson Syndrome and Toxic Epidermal Necrolysis
Stevens-Johnson syndrome and toxic epidermal necrolysis (SJS/TEN) are on a spectrum of a rare and potentially fatal immune-mediated mucocutaneous disease. As mortality rates decrease, more survivors are left w...
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Article
Composite Hierarchical Anti-Disturbance Control of a Quadrotor UAV in the Presence of Matched and Mismatched Disturbances
Quadrotor helicopter is an unstable system subject to matched and mismatched disturbances. To stabilize the quadrotor dynamics in the presence of these disturbances, the application of a composite hierarchical...
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Article
Active anti-disturbance control of a quadrotor unmanned aerial vehicle using the command-filtering backstepping approach
In this paper, a backstepping-based nonlinear controller is developed to control the quadrotor in the presence of constant and time-varying disturbances. The control law is derived based on Lyapunov stability ...