![]() This dissertation additionally presents experimental results for cooperative UAV flight control and parameter estimation. High-fidelity models and simulations are presented, leveraging techniques including multibody feedback linearization constraint stabilization and constraint-based impulse contact models in order to validate control strategies and optimize design in the presence of complex dynamics. The work additionally expands upon a previously developed modular docking system which supports self-assembly in varied composite system geometries, accounting for multi-agent operation and optimizing design parameters through simulated trade studies. This dissertation presents a novel adaptive flight control framework which uses an extended Kalman filter to update pertinent system parameters within a control allocation scheme. In order to fulfill a large span of missions with a high level of autonomy, cooperative aircraft must be capable of reliably docking to a single payload at multiple points and robustly stabilizing mid-flight when arranged in variable geometric configurations with unknown system parameters. Unlike traditional single-vehicle logistics paradigms, targeted delivery of a large variety of payloads may be achieved by distributing lift capacity among several inexpensive aircraft. The original VCU flight control system was based on an Atmel FPSLIC processor. ![]() Naturally, these systems have developed over the years and have expanded to fill more roles, and provide improved and extended functionality. These systems have the potential to dramatically alleviate the logistical costs of aerial transportation missions from a scalability and portability standpoint. developing computer control systems for unmanned vehicles for several years now. Multi-UAV cooperative lift systems use multiple unmanned aerial vehicles to collectively lift and transport payloads.
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