Related papers: Time Optimal Attitude Control for a Rigid Body
Necessary conditions for existence of normal extremals in optimal control of systems subject to nonholonomic constraints are derived as solutions of a constrained second order variational problems. In this work, a geometric interpretation…
This survey article deals with applications of optimal control to aerospace problems with a focus on modern geometric optimal control tools and numerical continuation techniques. Geometric optimal control is a theory combining optimal…
Motivated by attitude control and attitude estimation problems for a rigid body, computational methods are proposed to propagate uncertainties in the angular velocity and the attitude. The nonlinear attitude flow is determined by…
An optimal control problem for the continuity equation is considered. The aim of a "controller" is to maximize the total mass within a target set at a given time moment. The existence of optimal controls is established. For a particular…
This report proposes a discrete time observer for the continuous time rigid body kinematics on the rotation group $\mathbb{S}\mathbb{O}(3)$. The work draws on two research schools - one by Chang based on feedback integrators for systems…
For controller design for systems on manifolds embedded in Euclidean space, it is convenient to utilize a theory that requires a single global coordinate system on the ambient Euclidean space rather than multiple local charts on the…
Though switched dynamical systems have shown great utility in modeling a variety of physical phenomena, the construction of an optimal control of such systems has proven difficult since it demands some type of optimal mode scheduling. In…
The exact analytic solution is introduced for the rotational motion of a rigid body having three equal principal moments of inertia and subjected to an external torque vector which is constant for an observer fixed with the body, and to…
The general objective of this Ph.D. thesis is to study the dynamics and control of rigid and flexible spacecraft supported by a high-fidelity numerical simulation environment. The demand for greater attitude pointing precision, attitude…
In this work, we develop a numerically tractable trajectory optimization problem for rest-to-rest attitude transfers with CMG-driven spacecraft. First, we adapt a specialized dynamical model which avoids many of the numerical challenges…
The preparation of highly entangled many-body systems is one of the central challenges of both basic and applied science. The complexity of interparticle interaction and environment coupling increases rapidly with the number of…
In this paper we consider a parabolic optimal control problem with a Dirac type control with moving point source in two space dimensions. We discretize the problem with piecewise constant functions in time and continuous piecewise linear…
Tracking on the rotation group is a key component of many modern systems for estimation of the motion of rigid bodies. To address this problem, here we describe a Bayesian algorithm that relies on directional measurements for tracking on…
Hybrid quantum-classical algorithms hold great promise for solving quantum control problems on near-term quantum computers. In this work, we employ the hybrid framework that integrates digital quantum simulation with classical optimization…
Retractions maps are used to define a discretization of the tangent bundle of the configuration manifold as two copies of the configuration manifold where the dynamics take place. Such discretization maps can be conveniently lifted to a…
We present a control model for an octopus tentacle, based on the dynamics of an inextensible string with curvature constraints and curvature controls. We derive the equations of motion together with an appropriate set of boundary…
In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…
In this paper, we investigate optimal control problems governed by semilinear elliptic variational inequalities involving constraints on the state, and more precisely the obstacle problem. Since we adopt a numerical point of view, we first…
The attitude of a rigid body evolves on the three-dimensional special orthogonal group, and it is often estimated by measuring reference directions, such as gravity or magnetic field, using an onboard sensor. As a single direction…
Understanding the complex patterns in space-time exhibited by active systems has been the subject of much interest in recent times. Complementing this forward problem is the inverse problem of controlling active matter. Here we use optimal…