Related papers: Integrated design optimization of structural bendi…
This paper presents a sizing procedure for a rocket family capable of fulfilling multiple missions, considering the commonalities between the vehicles. The procedure aims to take full advantage of sharing a common part across multiple…
In this work we deal with the optimal design and optimal control of structures undergoing large rotations. In other words, we show how to find the corresponding initial configuration and the corresponding set of multiple load parameters in…
This work presents a framework to synthesize structured gain-scheduled controllers for structured plants whose dynamics change according to time-varying scheduling parameters. Both the system and the controller are assumed to admit…
This paper proposes a pitch plane trajectory tacking control solution for suborbital launch vehicles relying on adaptive feedback linearization. Initially, the 2D dynamics and kinematics for a single-engine, thrust-vector-controlled…
In this paper we study the problem of designing periodic orbits for a special class of hybrid systems, namely mechanical systems with underactuated continuous dynamics and impulse events. We approach the problem by means of optimal control.…
We present a novel method for optimizing the posture of kinematically redundant torque-controlled robots to improve robustness during impacts. A rigid impact model is used as the basis for a configuration-dependent metric that quantifies…
This paper presents a method for incorporating control analysis into design optimization for highly-maneuverable aircraft. By studying reachable sets for aircraft dynamics, we ensure that the optimizer will take the aircraft's controlled…
Metallic coatings are used to enhance the durability of metal surfaces by protecting them from corrosion. These protective layers are typically deposited in a fluid state via a liquid film. Controlling instabilities in the liquid film is…
This paper introduces an algorithm to perform optimal reorientation of a spacecraft during a high speed flyby mission that maximizes the time a certain target is kept within the field of view of scientific instruments. The method directly…
This paper proposes a nonlinear control architecture for flexible aircraft simultaneous trajectory tracking and load alleviation. By exploiting the control redundancy, the gust and maneuver loads are alleviated without degrading the…
This paper presents policy-based motion planning for robotic systems. The motion planning literature has been mostly focused on open-loop trajectory planning which is followed by tracking online. In contrast, we solve the problem of path…
Athletic robots demand a whole-body actuation system design that utilizes motors up to the boundaries of their performance. However, creating such robots poses challenges of integrating design principles and reasoning of practical design…
Designing aerial robots for specialized tasks, from perching to payload delivery, requires tailoring their aerodynamic shape to specific mission requirements. For tasks involving wide flight envelopes, the usual sequential process of first…
This paper presents a new formulation for model-free robust optimal regulation of continuous-time nonlinear systems. The proposed reinforcement learning based approach, referred to as incremental adaptive dynamic programming (IADP),…
Satellite dynamics in unknown environments are inherently uncertain due to factors such as varying gravitational fields, atmospheric drag, and unpredictable interactions with space debris or other celestial bodies. Traditional sliding mode…
This work presents a novel algorithm for impulsive optimal control of linear time-varying systems with the inclusion of input magnitude constraints. Impulsive optimal control problems, where the optimal input solution is a sum of delta…
Optimal control problems are formulated and efficient computational procedures are proposed for attitude dynamics of a rigid body with symmetry. The rigid body is assumed to act under a gravitational potential and under a structured control…
Modern control designs in robotics, aerospace, and cyber-physical systems rely heavily on real-world data obtained through system outputs. However, these outputs can be compromised by system faults and malicious attacks, distorting critical…
This paper presents a novel synthesis method for designing an optimal and robust guidance law for a non-throttleable upper stage of a launch vehicle, using a convex approach. In the unperturbed scenario, a combination of lossless and…
Aerospace production volumes have increased over time and robotic solutions have been progressively introduced in the aeronautic assembly lines to achieve high-quality standards, high production rates, flexibility and cost reduction.…