Related papers: Robust Three-axis Attitude Stabilization for Inert…
This paper addresses the attitude tracking of a rigid body using a quaternion description. Global finite-time attitude controllers are designed with three types of measurements, namely, full states, attitude plus constant-biased angular…
We prove global stabilization of the marine riser models using a feedback controller that depend on finitely many finite-volume elements and finitely many nodal observables. Our approach is based on a feedback control design for dissipative…
This paper presents tracking control laws for two different objectives of a nonholonomic system - a spherical robot - using a geometric approach. The first control law addresses orientation tracking using a modified trace potential…
This paper presents a novel approach to the problem of almost global attitude stabilization. The reduced attitude is steered along a geodesic path on the n-sphere. Meanwhile, the full attitude is stabilized on SO(n). This action,…
This paper studies the attitude control of a satellite in three-axis by thrusters. The mathematical model of attitude dynamics and kinematics of the satellite is represented as a switched system with sub-systems. Each sub-system is defined…
This paper describes the development of a magnetic attitude control subsystem for a 2U cubesat. Due to the presence of gravity gradient torques, the satellite dynamics are open-loop unstable near the desired pointing configuration.…
In this paper, we investigate the attitude tracking problem of uncertain flexible spacecraft systems subject to external disturbances. In sharp contrast to existing results, the dynamics of flexible spacecraft systems and external…
This paper deals with the stabilization problem for nonlinear control-affine systems with the use of oscillating feedback controls. We assume that the local controllability around the origin is guaranteed by the rank condition with Lie…
In this paper, an exponentially stable trajectory tracking controller is proposed for multi-UAV payload transport. The multi-UAV payload system has a 2-DOF magnetic spherical joint between the UAVs and the vertical rigid links of the…
This paper outlines a complete methodology for modeling an on-orbit servicing mission scenario and designing a feedback control system for the attitude dynamics that is guaranteed to robustly meet pointing requirements, despite model…
This paper presents a theoretical framework for analyzing the stability of higher-order geometric nonlinear control laws for attitude control on the Special Orthogonal Group $\mathrm{SO(3)}$. In particular, the paper extends existing…
This paper proposes a feedback linearizing law for single-track dynamic models, allowing the design of a trajectory tracking controller exploiting linear control theory. The main characteristics of this algorithm are its simplicity, its…
In systems where the ability to actuate is a scarce resource, e.g., spacecrafts, it is desirable to only apply a given controller in an intermittent manner--with periods where the controller is on and periods where it is off. Motivated by…
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…
The attitude control of a spacecraft is integral to achieving mission success. However, failures in actuators such as reaction wheels are detrimental and can often lead to an early end of mission. We propose a Lyapunov-based adaptive…
A solar sail is one of the most promising space exploration system because of its theoretically infinite specific impulse using solar radiation pressure (SRP). Recently, some researchers proposed "transformable spacecrafts" that can…
Relative attitude formation control systems are developed for multiple spacecraft, based on the line-of-sight measurements between spacecraft in formation. The proposed control systems are unique in the sense that they do not require…
Although manipulation capabilities of aerial robots greatly improved in the last decade, only few works addressed the problem of aerial physical interaction with dynamic environments, proposing strongly model-based approaches. However, in…
We propose a tracking control law for the fully actuated rigid body system in the presence of any unknown constant disturbance by employing quaternions with the stable embedding technique and Lyapunov stability theory. The stable embedding…
We demonstrate the effectiveness of simple observer-based linear feedback policies for "pixels-to-torques" control of robotic systems using only a robot-facing camera. Specifically, we show that the matrices of an image-based Luenberger…