Related papers: Vision-Based Relative Attitude Formation Tracking
In this paper, the attitude tracking problem is considered using the rotation matrices. Due to the inherent topological restriction, it is impossible to achieve global attractivity with any continuous attitude control system on $SO(3)$.…
This study investigates the application of modern control theory to improve the precision of spacecraft orbit maneuvers in low Earth orbit under the influence of solar radiation pressure. A full order observer based feedback control…
In multi-robot missions, relative position and attitude information between agents is valuable for a variety of tasks such as mapping, planning, and formation control. In this paper, the problem of estimating relative poses from a set of…
The leader-follower formation control analysis for multiple quad-rotor systems is investigated in this paper. To achieve predefined formation in the three-dimensional air space ($x,y$ and $z$), a novel local tracking control law and a…
This paper presents a novel Lagrangian approach to attitude tracking for rigid spacecraft using unit quaternions, where the motion equations of a spacecraft are described by a four degrees of freedom Lagrangian dynamics subject to a…
Multi-vehicle coordinated decision making and control can improve traffic efficiency while guaranteeing driving safety. Formation control is a typical multi-vehicle coordination method in the multi-lane scenario. Among the existing…
This paper proposes an observer-based formation tracking control approach for multi-vehicle systems with second-order motion dynamics, assuming that vehicles' relative or global position and velocity measurements are unavailable. It is…
Air-bearing platforms for simulating the rotational dynamics of satellites require highly precise ground truth systems. Unfortunately, commercial motion capture systems used for this scope are complex and expensive. This paper shows a novel…
The rigid-body attitude tracking using vector and biased gyro measurements with unknown inertia matrix is studied in this note. First, a gyro-bias observer with global exponential stability is designed. Then, an attitude tracking controller…
This paper provides new results for a robust adaptive tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid…
With the development of the space missions, there are extensive missions in the demand of the prescribed time convergence. However, it is still a difficult work to combine the prescribed time method with the sliding mode control due to the…
Autonomous ground vehicles have been designed for the purpose of that relies on ranging and bearing information received from forward looking camera on the Formation control . A visual guidance control algorithm is designed where real time…
This paper proposes a dynamic analytical initialization method for spacecraft attitude estimators. In the proposed method, the desired attitude matrix is decomposed into two parts: one is the constant attitude matrix at the very start and…
Autonomous spacecraft relative navigation technology has been planned for and applied to many famous space missions. The development of on-board electronics systems has enabled the use of vision-based and LiDAR-based methods to achieve…
This paper presents global tracking strategies for the attitude dynamics of a rigid body. It is well known that global attractivity is prohibited for continuous attitude control systems on the special orthogonal group. Such topological…
This paper introduces a novel attitude controller for spacecraft subject to actuator saturation and multiple exclusion cone constraints. The proposed solution relies on a two-layer approach where the first layer prestabilizes the system…
This paper presents a novel approach for robust periodic attitude control of satellites. Respecting the periodicity of the satellite dynamics in the synthesis allows to achieve constant performance and robustness requirements over the…
Controlling the shape of deformable linear objects using robots and constraints provided by environmental fixtures has diverse industrial applications. In order to establish robust contacts with these fixtures, accurate estimation of the…
This letter presents two bearing-constrained formation tracking control protocols for multiple nonholonomic agents based respectively on the bearing vectors and displacements between the agents. The desired formation pattern of the system…
The capability of maintaining two satellites in precise relative position, stable in a celestial coordinate system, would enable major advances in a number of scientific disciplines and with a variety of types of instrumentation. The common…