Related papers: Fixed final time three-axis satellite attitude con…
This paper presents a new technique for the design of approximate reasoning based controllers for dynamic physical systems with interacting goals. In this approach, goals are achieved based on a hierarchy defined by a control knowledge base…
This paper proposes a novel quaternion-based approach for tracking the translation (position and linear velocity) and rotation (attitude and angular velocity) trajectories of underactuated Unmanned Aerial Vehicles (UAVs). Quadrotor UAVs are…
This paper introduces an innovative guidance and control method for simultaneously capturing and stabilizing a fast-spinning target satellite, such as a spin-stabilized satellite, using a spinning-base servicing satellite equipped with a…
Designing spacecraft trajectories remains challenging in the presence of stochastic effects such as maneuver execution errors and observation uncertainties. Although covariance control and belief-space planning provide useful tools for…
This letter presents a new intelligent control scheme for the accurate trajectory tracking of flexible link manipulators. The proposed approach is mainly based on a sliding mode controller for underactuated systems with an embedded…
The focus of this paper is an integrated, fault-tolerant vehicle supervisory control algorithm for the overall stability of ground vehicles. Vehicle control systems contain many sensors and actuators that can communicate with each other…
We introduce a modeling framework for manipulation planning based on the formulation of the dynamics as a projected dynamical system. This method uses implicit signed distance functions and their gradients to formulate an equivalent…
This paper proposes a framework for scheduling the observation and download tasks of multiple agile satellites with practical considerations such as attitude transition time, onboard data capacity, and stereoscopic image acquisition. A…
This paper introduces a novel attitude controller for spacecraft subject to actuator saturation and multiple exclusion cone constraints. The proposed solution relies on a two-layer approach where the first layer prestabilizes the system…
Reliable controllers with high flexibility and performance are necessary for the control of intricate, advanced, and expensive systems such as aircraft, marine vessels, automotive vehicles, and satellites. Meanwhile, control allocation has…
This paper derives an optimal control strategy for a simple stochastic dynamical system with constant drift and an additive control input. Motivated by the example of a physical system with an unexpected change in its dynamics, we take the…
Discrete-time stochastic systems are an essential modelling tool for many engineering systems. We consider stochastic control systems that are evolving over continuous spaces. For this class of models, methods for the formal verification…
This paper proposes a dynamic analytical initialization method for spacecraft attitude estimators. In the proposed method, the desired attitude matrix is decomposed into two parts: one is the constant attitude matrix at the very start and…
This paper employs Pulse Width Modulation (PWM) method to a Nonlinear Model Predictive Control (NMPC) for satellite attitude control and detumbling. Magnetic torquers have been used as actuators for the stabilization and attitude control of…
This paper proposes an adaptive dynamic programming-based adaptive-gain sliding mode control (ADP-ASMC) scheme for a fixed-wing unmanned aerial vehicle (UAV) with matched and unmatched disturbances. Starting from the dynamic of fixed-wing…
This paper is an addition to an article previously published by three of the authors that addresses the control of convertible fixed-wing aircraft with vectorized thrust. The control solution here developed extends the one presented in the…
Neglecting complex aerodynamic effects hinders high-speed yet high-precision multirotor autonomy. In this paper, we present a computationally efficient learning-based model predictive controller that simultaneously optimizes a trajectory…
The paper presents a new, robust control algorithm for position trajectory tracking in a 3D space, dedicated to underactuated airships. In order to take into account real characteristics of such vehicles, and to reflect practically…
This paper presents a controller for the transition maneuver of a tail-sitter drone. The tail-sitter model considers aerodynamic terms whereas the proposed controller considers the time-scale separation between drone attitude and position…
Successful control of a rigid-body rotating in three dimensional space requires accurate estimation of its attitude. The attitude dynamics are highly nonlinear and are posed on the Special Orthogonal Group $SO(3)$. In addition, measurements…