Related papers: Dynamical Equations of Controlled Rigid Spacecraft…
We study global controllability of 'rotating' multidimensional rigid body (MRB) controlled by application of few torques. Study by methods of geometric control requires analysis of algebraic structure introduced by the quadratic term of…
This paper formulates an optimal control problem for a system of rigid bodies that are connected by ball joints and immersed in an irrotational and incompressible fluid. The rigid bodies can translate and rotate in three-dimensional space,…
The gimbal-spacecraft system, that consists of a variable speed control moment gyro (VSCMG) mounted inside a spacecraft, has been employed as an actuator for the attitude control of a spacecraft and has been much studied in the aerospace…
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…
Task-space quadratic programming (QP) is an elegant approach for controlling robots subject to constraints. Yet, in the case of kinematic-controlled (i.e., high-gains position or velocity) robots, closed-loop QP control scheme can be prone…
In this paper, disturbance reconstruction and robust trajectory tracking control of biped robots with hybrid dynamics in the port-Hamiltonian form is investigated. A new type of Hamiltonian function is introduced, which ensures the…
This paper deals with the dynamics and controls of a quadrotor unmanned aerial vehicle that is connected to a fixed point on the ground via a tether. Tethered quadrotors have been envisaged for long-term aerial surveillance with high-speed…
This paper introduces a hybrid dynamical system methodology for managing impulsive control in spacecraft rendezvous and proximity operations under the Hill-Clohessy-Wiltshire model. We address the control design problem by isolating the…
We present a method of localised control of chaos in Hamiltonian systems. The aim is to modify the perturbation locally by a small control term which makes the controlled Hamiltonian more regular. We provide an explicit expression for the…
We derive the dynamics of several rigid bodies of arbitrary shape in a 2-dimensional inviscid and incompressible fluid, whose vorticity field is given by point vortices. We adopt the idea of Vankerschaver et al. (2009) to derive the…
Motivated by research on contraction analysis and incremental stability/stabilizability the study of 'differential properties' has attracted increasing attention lately. Previously lifts of functions and vector fields to the tangent bundle…
This paper deals with the dynamics of time-reversible Hamiltonian vector fields with 2 and 3 degrees of freedom around an elliptic equilibrium point in presence of symplectic involutions. The main results discuss the existence of…
We begin with a review of the statements of non-linear, linear and mode stability of autonomous dynamical systems in classical mechanics, using symplectic geometry. We then discuss what the phase space and the Hamiltonian of general…
In this paper, we consider the problem of computing robust controlled invariants for discrete-time monotone dynamical systems. We consider different classes of monotone systems depending on whether the sets of states, control inputs and…
We present a new theoretical method to treat atom-rigid bender inelastic collisions at the Close Coupling level (RBCC) in the space fixed frame. The coupling between rotation and bending is treated exactly within the rigid bender…
Symmetries are ubiquitous in a wide range of nonlinear systems. Particularly in systems whose dynamics are determined by a Lagrangian or Hamiltonian function. For hybrid systems which possess a continuous-time dynamics determined by a…
Soft robotics focuses on designing robots with highly deformable materials, allowing them to adapt and operate safely and reliably in unstructured and variable environments. While soft robots offer increased compliance over rigid body…
In this article, we study spatial Stark-Zeeman systems which describe the dynamics of a charged particle moving in three-dimensional space under the influence of a Coulomb potential, a magnetic field, and an electric field, possibly…
Complete description of the classical and quantum dynamics of a particle in an anisotropic, rotating, harmonic trap is given. The problem is studied in three dimensions and no restrictions on the geometry are imposed. In the generic case,…
This work addresses the Hamiltonian dynamics of the Kepler problem in a deformed phase space, by considering the equatorial orbit. The recursion operators are constructed and used to compute the integrals of motion. The same investigation…