Related papers: Optimal attitude control with two rotation axes
In the present paper we deal with an optimal control problem related to a model in population dynamics; more precisely, the goal is to modify the behavior of a given density of individuals via another population of agents interacting with…
We derive an optimal control formulation for a nonholonomic mechanical system using the nonholonomic constraint itself as the control. We focus on Suslov's problem, which is defined as the motion of a rigid body with a vanishing projection…
On-orbit manual attitude control of manned spacecraft is accomplished using external visual references and some method of three axis attitude control. All past, present, and developmental spacecraft feature the capability to manually…
Solving optimal control problems for transport-dominated partial differential equations (PDEs) can become computationally expensive, especially when dealing with high-dimensional systems. To overcome this challenge, we focus on developing…
The control of a quadrotor is typically split into two subsequent problems: finding desired accelerations to control its position, and controlling its attitude and the total thrust to track these accelerations and to track a yaw angle…
Numerically computing global policies to optimal control problems for complex dynamical systems is mostly intractable. In consequence, a number of approximation methods have been developed. However, none of the current methods can quantify…
We analyze and experimentally compare various rotational error metrics for use in quadrotor controllers. Traditional quadrotor attitude controllers have used Euler angles or the full rotation to compute an attitude error and scale that to…
This paper addresses the problem of designing a trajectory tracking control law for a quadrotor UAV, subsequent to complete failure of a single rotor. The control design problem considers the reduced state space which excludes the angular…
A theory of dynamical control by modulation for optimal decoherence reduction is developed. It is based on the non-Markovian Euler-Lagrange equation for the energy-constrained field that minimizes the average dephasing rate of a qubit for…
This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…
In this paper, we consider the application of optimal periodic control sequences to switched dynamical systems. The control sequence is obtained using a finite-horizon optimal method based on dynamic programming. We then consider Euler…
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…
The attitude of a rigid-body in the three dimensional space has a unique and global definition on the Special Orthogonal Group SO (3). This paper gives an overview of the rotation matrix, attitude kinematics and parameterization. The four…
The optimal control of two-level systems by time-dependent laser fields is studied using a variational theory. We obtain, for the first time, general analytical expressions for the optimal pulse shapes leading to global maximization or…
This work is devoted to generating optimal guidance commands in real time for attitude-constrained solar sailcrafts in coplanar circular-to-circular interplanetary transfers. Firstly, a nonlinear optimal control problem is established, and…
This paper proposes a solution to the attitude tracking problem for a novel quadrotor tailsitter unmanned aerial vehicle called swiveling biplane quadrotor. The proposed vehicle design addresses the lack of yaw control authority in…
This paper addresses the trajectory tracking control problem for underactuated VTOL UAVs. According to the different actuation mechanisms, the most common UAV platforms can achieve only a partial decoupling of attitude and position tasks.…
This paper considers the optimal control for hybrid systems whose trajectories transition between distinct subsystems when state-dependent constraints are satisfied. Though this class of systems is useful while modeling a variety of…
The problem of minimizing the transfer time between periodic orbits in the Earth-Moon elliptic restricted three-body problem using a multi-mode propulsion system is considered. By employing the true anomaly on the primary orbit as the…
Low-thrust engines for interplanetary spacecraft transfers allow cost-effective space missions with flexible launch and arrival dates. To find fuel-optimal trajectories, an optimal control problem is to be solved. Pontryagin's Maximum…