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Adaptive Trajectory Tracking Control for the Quadrotor Aerial Transportation System Landing a Payload Onto the Mobile Platform
IEEE Transactions on Industrial Informatics, vol. 20, no. 1, pp. 23-37, 2023
A trajectory tracking control method is designed for variable-length-cable-suspended aerial transportation systems.
Hai Yu#, Xiao Liang*, Jianda Han, Yongchun Fang
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Fault-Tolerant Control for Multirotor Aerial Transportation Systems With Blade Damage
IEEE Transactions on Industrial Electronics, vol. 71, no. 10, pp. 12718-12731, 2024
A finite-time disturbance observer-based nonlinear hierarchical control scheme is designed for the aerial transportation system to handle the lumped disturbance caused by blade damage.
Hai Yu#, Shizhen Wu, Wei He, Xiao Liang*, Jianda Han, Yongchun Fang
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Nonlinear Output Feedback Control for Double-Pendulum Aerial Transportation Systems with Variable-Length Cable
2024 IEEE International Conference on Real-time Computing and Robotics (RCAR), 2024
Hai Yu#, Yang Wang, Bingbing Liu, Jianda Han, Yongchun Fang, Xiao Liang*
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Visual Servoing-Based Anti-Swing Control of Cable-Suspended Aerial Transportation Systems With Variable-Length Cable
IEEE Transactions on Automation Science and Engineering, vol. 22, pp. 5955-5965, 2024
A generalized virtual image feature signal is introduced by organically combining the cable length and payload swing angles with the image feature.
Hai Yu#, Zhaopeng Zhang, Tengfei Pei, Jianda Han, Yongchun Fang, Xiao Liang*
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Collaborative Control for Aerial Transportation of Cargo With Dual Quadrotors
IEEE Transactions on Industrial Informatics, vol. 21, no. 1, pp. 752-761, 2024
A spatial swing angle-related term is designed to enhance cargo swing damping.
Zhuang Zhang#, Hai Yu#, Huiying Ye, Jianda Han, Yongchun Fang, Xiao Liang*
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Fuzzy-Based Anti-Swing Control for Variable-Length Cable-Suspended Aerial Transportation Systems Considering the Hook Effect
IEEE Transactions on Fuzzy Systems, vol. 33, no. 2, pp. 621-630, 2024
Swing angle related fuzzy rules are established to dynamically adjust the control parameters, which can simultaneously achieve multirotor positioning, payload hoisting/lowering, and hook/payload swing suppression.
Hai Yu#, Yi Chai, Zhichao Yang, Jianda Han, Yongchun Fang, Xiao Liang*
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