Related papers: Robust Path-following for Keplerian Orbits
Non-prehensile manipulation such as pushing is typically subject to uncertain, non-smooth dynamics. However, modeling the uncertainty of the dynamics typically results in intractable belief dynamics, making data-efficient planning under…
This paper proposes a novel method for formation path following of multiple underactuated autonomous underwater vehicles. The method combines line-of-sight guidance with null-space-based behavioral control, allowing the vehicles to follow…
This work addresses the problem of constrained motion control of the uncrewed surface vessels. The constraints are imposed on states/inputs of the vehicles due to the physical limitations, mission requirements, and safety considerations. We…
We present a practical implementation of the perturbation theory derived by Lynden-Bell (2015) for describing, to arbitrary precision, the orbit of a particle in an arbitrary spherically-symmetric potential. Our implementation corrects…
An impedance-based control scheme is introduced for cooperative manipulators grasping a rigid load. The position and orientation of the load are to be maintained close to a desired trajectory, trading off tracking accuracy by low energy…
The objective of this work is to demonstrate the utility of Lyapunov functions in control synthesis for the purpose of maintaining and stabilizing a spacecraft in a circular orbit around the L4 point in the circular restricted three body…
We consider the problem of stabilizing the coherence of a single qubit subject to Markovian decoherence, via the application of a control Hamiltonian, without any additional resources. In this case neither quantum error…
Many exoplanets are discovered in binary star systems in internal or in circumbinary orbits. Whether the planet can be habitable or not depends on the possibility to maintain liquid water on its surface, and therefore on the luminosity of…
In this note we study the generation of attractive oscillations of a class of mechanical systems with underactuation one. The proposed design consists of two terms, i.e., a partial linearizing state feedback, and an immersion and invariance…
In this paper, we present a new leader-follower type solution to the formation maneuvering problem for multiple, nonholonomic wheeled mobile robots. The solution is based on the graph that models the coordination among the robots being a…
Robust open-loop steering of a finite-dimensional quantum system is a central problem in a growing number of applications of information engineering. In the present paper, we reformulate the problem in the classical control-theoretic…
The Kepler mission and its successor K2 have brought forth a cascade of transiting planets. Many of these planetary systems exhibit multiple members, but a large fraction possess only a single transiting example. This overabundance of…
This paper is concerned with the robust tracking control of linear uncertain systems, whose unknown system parameters and disturbances are bounded within ellipsoidal sets. We propose an adaptive robust control that can actively learn the…
In this work, we investigate the state stabilization and trajectory tracking problems of underactuated surface ships with full state model of having non-diagonal inertia and damping matrices. By combining the novel state transformations,…
This paper presents a new geometric adaptive control system with state inequality constraints for the attitude dynamics of a rigid body. The control system is designed such that the desired attitude is asymptotically stabilized, while the…
In order to meet the requirements for autonomous systems in real world applications, reliable path following controllers have to be designed to execute planned paths despite the existence of disturbances and model errors. In this paper we…
We consider the motion of point masses given by a natural extension of Newtonian gravitation to spaces of constant positive curvature. Our goal is to explore the spectral stability of tetrahedral orbits of the corresponding 4-body problem…
Nonlinearity in dynamics has long been a major challenge in robotics, often causing significant performance degradation in existing control algorithms. For example, the navigation of bipedal robots can exhibit nonlinear behaviors even under…
We seek periodic trajectories of a system of multiple mutually repelling electrons on a half-line, with an attractive nucleus sitting at the origin. We adopt a variational viewpoint and study critical points of the associated…
We present a new method for learning control law that stabilizes an unknown nonlinear dynamical system at an equilibrium point. We formulate a system identification task in a self-supervised learning setting that jointly learns a controller…