Julius A. Marshall

TL;DR: This article presents an innovative control architecture for tilt-rotor quadcopters with H-configuration transporting unknown, sling payloads that employs barrier Lyapunov functions and a novel robust model reference adaptive control law to guarantee a priori user-defined constraints on both the trajectory tracking error and the control input, despite poor information on the aircraft's inertial properties and the presence of unknown, unsteady payloads.

TL;DR: In this paper, a user-defined rate of convergence for nonlinear dynamical systems affected by matched and parametric uncertainties is proposed to constrain both the closed-loop system's trajectory tracking error and the control input at all times within user defined bounds.

TL;DR: The effectiveness of the proposed control architecture is proven in two alternative frameworks, that is, analyzing Caratheodory and Filippov solutions of discontinuous differential equations, to verify the applicability of the theoretical results to problems of practical interest.

TL;DR: In this article, the authors present a holistic perspective on the state-of-the-art in the design of guidance, navigation, and control systems for autonomous multi-rotor small unmanned aerial systems (sUAS).

TL;DR: This analysis is the first to show a nonlinear effect in the vehicle's rotational dynamics due to the fact that not all propellers of a tilt-rotor are aligned to one of the vehicles's principal axes.