Related papers: Dynamical Equations of Controlled Rigid Spacecraft…
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…
In a recent paper by the author (K. Yagasaki, Nonintegrability of the restricted three-body problem, submitted for publication), a technique was developed for determining whether nearly integrable systems are not meromorphically…
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…
In a realistic scenario, the evolution of the rotational dynamics of a celestial or artificial body is subject to dissipative effects. Time-varying non-conservative forces can be due to, for example, a variation of the moments of inertia or…
A numerical simulation method of computational fluid dynamics (CFD) coupling with a trim analysis for coaxial rotor systems is described in this paper. The trim analysis is implemented using a rotorcraft flow solver, rFlow3D. Six target…
Today, the motion of spacecrafts is still described according to the classical Newtonian equations plus the so-called "relativistic corrections", computed with the required precision using the Post-(Post-)Newtonian formalism. The current…
Despite the periodic kicks, a linear kicked rotor (LKR) is an integrable and exactly solvable model in which the kinetic energy term is linear in momentum. It was recently shown that spatially interacting LKRs are also integrable, and…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic…
This paper solves the problem of station-keeping control of a surface vessel under conditions of sinusoidal disturbances with unknown parameters. The proposed control algorithm is based on the geometric approach with the use of the adaptive…
The classical inward pointing condition (IPC) for a control system whose state $x$ is constrained in the closure $C:=\bar\Omega$ of an open set $\Omega$ prescribes that at each point of the boundary $x\in \partial \Omega$ the intersection…
It is shown that the natural framework for the solutions of any Schrodinger equation whose spectrum has a continuous part is the Rigged Hilbert Space rather than just the Hilbert space. The difficulties of using only the Hilbert space to…
Robust adaptive model predictive control (RAMPC) is a novel control method that combines robustness guarantees with respect to unknown parameters and bounded disturbances into a model predictive control scheme. However, RAMPC has so far…
This paper applies geometric PID control for asymptotic tracking of a desired trajectory by a hoop robot in the presence of disturbances and uncertainties. The hoop robot, consisting of a circular body rolling without slip along a…
Self-consistent chaotic transport is studied in a Hamiltonian mean-field model. The model provides a simplified description of transport in marginally stable systems including vorticity mixing in strong shear flows and electron dynamics in…
Today, the motion of spacecraft is still described by the classical Newtonian equations of motion plus some relativistic corrections. This approach might become cumbersome due to the increasing precision required. We use the Relativistic…
We consider model order reduction of parameterized Hamiltonian systems describing nondissipative phenomena, like wave-type and transport dominated problems. The development of reduced basis methods for such models is challenged by two main…
We study classically the problem of two relativistic particles with an invariant Duffing-like potential which reduces to the usual Duffing form in the nonrelativistic limit. We use a special relativistic generalization (RGEM) of the…
This paper addresses an open problem in the area of linear quadratic optimal control. We consider the regular, infinite-horizon, stability-modulo-a-subspace, indefinite linear quadratic problem under the assumption that the dynamics are…
We employ a port-Hamiltonian approach to model nonlinear rigid multibody systems subject to both position and velocity constraints. Our formulation accommodates Cartesian and redundant coordinates, respectively, and captures kinematic as…