Related papers: Analytical and experimental stability investigatio…
A hybrid docking simulator is a hardware-in-the-loop (HIL) simulator that includes a hardware element within a numerical simulation loop. One of the goals of performing a HIL simulation at the European Proximity Operation Simulator (EPOS)…
In this work, we present a hybrid simulator for space docking and robotic proximity operations methodology. This methodology also allows for the emulation of a target robot operating in a complex environment by using an actual robot. The…
Extended time-delay auto-synchronization (ETDAS) is a promising technique for stabilizing unstable periodic orbits in low-dimensional dynamical systems. The technique involves continuous feedback of signals delayed by multiples of the…
As satellites have proliferated, interest has increased in autonomous rendezvous, proximity operations, and docking (ARPOD). A fundamental challenge in these tasks is the uncertainties when operating in space, e.g., in measurements of…
This paper proposes a general framework for constructing feedback controllers that drive complex dynamical systems to "efficient" steady-state (or slowly varying) operating points. Efficiency is encoded using generalized equations which can…
Over a couple of decades, space junk has increased rapidly, which has caused significant threats to the LEO operation satellites. An Active Debris Removal $(ADR)$ concept continuously evolves for space junk removal. One of the ADR methods…
We study the output feedback exponential stabilization for a 1-d wave PDE with dynamic boundary. With only one measurement, we construct an infinite-dimensional state observer to trace the state and design an estimated state based…
Detumbling refers to the act of dampening the angular velocity of the satellite. This operation is of paramount importance since it is virtually impossible to nominally perform any other operation without some degree of attitude control.…
The harsh ocean environment and complex operating condition require high dynamic positioning (DP) capability of offshore vessel. The design, development and performance evaluation of DP system are generally carried out by numerical…
We study stability of so-called synchronous slowly oscillating periodic solutions (SOPSs) for a system of identical delay differential equations (DDEs) with linear decay and nonlinear delayed negative feedback that are coupled through their…
This is the last part of four series papers, aiming at stabilization for signal-input-signaloutput (SISO) linear finite-dimensional systems corrupted by general input disturbances. A new observer, referred to as Extended Dynamics Observer…
Many controllers for legged robotic systems leverage open- or closed-loop control at discrete hybrid events to enhance stability. These controllers appear in several well studied phenomena such as the Raibert stepping controller, paddle…
Absolute stability of discrete-time teleoperation systems can be jeopardized by choosing inappropriate sampling time architecture. A modified structure is presented for the bilateral teleoperation system including continuous-time slave…
In this paper we investigate the relation between robustness of periodic orbits exhibited by systems with impulse effects and robustness of their corresponding Poincar\'e maps. In particular, we prove that input-to-state stability (ISS) of…
The LASR Laboratory is investigating the use of free-flying spacecraft modules in several on-orbit, servicing and manufacturing (OSAM) activities. Previous work consists of the system development and testing of the aforementioned…
This paper presents a method to verify closed-loop properties of optimization-based controllers for deterministic and stochastic constrained polynomial discrete-time dynamical systems. The closed-loop properties amenable to the proposed…
Semi-Global Exponential Stability (SGES) is proved for the combined attitude and position rigid body motion tracking problem, which was previously only known to be asymptotically stable. Dual quaternions are used to jointly represent the…
Predictor-based stabilization results are provided for nonlinear systems with input delays and a compact absorbing set. The control scheme consists of an inter-sample predictor, a global observer, an approximate predictor, and a nominal…
In recent years, there has been a growing demand for improved autonomy for in-orbit operations such as rendezvous, docking, and proximity maneuvers, leading to increased interest in employing Deep Learning-based Spacecraft Pose Estimation…
The problem of stabilization of a system of coupled PDEs of the forth-order by means of boundary control is investigated. The considered setup arises from the classical Euler-Bernoulli beam model, and constitutes a generalization of…