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Attitude control of spacecraft during an impulsive orbital maneuver is a vital task. Many spacecraft and launchers use the gimbaled thrust vector control (TVC) in their attitude control system during an orbital maneuver. Mathematical…
This paper discusses spacecraft control using variable-speed CMGs. A new operational concept for VSCMGs is proposed. This new concept makes it possible to approximate the complex nonlinear system by a linear time-varying system (LTV). As a…
This paper presents a method to control a manipulator system grasping a rigid-body payload so that the motion of the combined system in consequence of externally applied forces to be the same as another free-floating rigid-body (with…
Unmanned aerospace vehicles usually carry sensors (i.e., electro-optical and/or infrared imaging cameras) as their primary payload. These sensors are used for image processing, target tracking, surveillance, mapping, and providing…
Thrust vector control (TVC) is a key mechanism for stabilizing rockets during flight, yet conventional implementations remain costly and technically inaccessible to students and hobbyists. This paper presents the design, fabrication, and…
Efficient performance of a number of engineering systems is achieved through different modes of operation - yielding systems described as "hybrid", containing both real-valued and discrete decision variables. Prominent examples of such…
This paper is focused on tracking control for a rigid body payload, that is connected to an arbitrary number of quadrotor unmanned aerial vehicles via rigid links. A geometric adaptive controller is constructed such that the payload…
Active matter systems characterized by the interplay of chirality and self-alignment offer a rich landscape for the emergence of non-equilibrium collective behaviors and the development of autonomous materials. We present a versatile…
This paper presents a new kind of vectorial backstepping sliding mode control (BSMC) for the positioning and trajectory tracking of an autonomous robotic airship. Also, a unified framework basis for the design/analysis of vectorial BSMC, as…
This paper proposes a novel control framework designed for Inverter-Based Resources (IBRs), denoted as Generalized Swing Control (GSC). The proposed GSC framework generalizes the definition of Grid-Forming (GFM) control schemes and exploits…
We consider the problem of attitude tracking for small-scale aerobatic helicopters. A small scale helicopter has two subsystems: the fuselage, modeled as a rigid body; and the rotor, modeled as a first order system. Due to the coupling…
Recent spacecraft mission concepts propose larger payloads that have lighter, less rigid structures. For large lightweight structures, the natural frequencies of their vibration modes may fall within the attitude controller bandwidth,…
This paper investigates the mechanism of various faults of momentum exchange devices. These devices are modeled as a cascade electric motor EM - variable speed drive VSD system. Considering the mechanical part of the EM and the VSD system,…
In this paper, we consider the controlled rigid spacecraft with an internal rotor as a regular point reducible regular controlled Hamiltonian (RCH) system. In the cases of coincident and non-coincident centers of buoyancy and gravity, we…
A global model is presented that can be used to study attitude maneuvers of a rigid spacecraft in a circular orbit about a large central body. The model includes gravity gradient effects that arise from the non-uniform gravity field and…
In this paper, we present the design, simulation and experimental validation of a control architecture for a flying hand, i.e., a system made of an unmanned aerial vehicle, a robotic manipulator and a gripper, which is grasping an object…
This paper presents contributions on nonlinear tracking control systems for a quadrotor unmanned micro aerial vehicle. New controllers are proposed based on nonlinear surfaces composed by tracking errors that evolve directly on the…
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 paper a novel aerial manipulation system is proposed. The mechanical structure of the system, the number of thrusters and their geometry will be derived from technical optimization problems. The aforementioned problems are defined…
There is an electromagnetic factor of correlation between gravitational mass and inertial mass, which in specific electromagnetic conditions, can be reduced, made negative and increased in numerical value. This means that gravitational…