Related papers: Robust Path-following for Keplerian Orbits
In this paper we exploit some interesting properties of a class of bipedal robots which have an inertial disc. One of this properties is the ability to control every position and speed except for the disc position. The proposed control is…
In this paper a solution to the problem of following a curved path in the presence of a constant unknown ocean current disturbance is presented. We introduce a path variable that represents the curvilinear abscissa on the path which is used…
We study the perturbed-from-synchronous librational state of a double asteroid, modeled by the Full Two Rigid Body Problem (F2RBP), with primary emphasis on deriving analytical formulas which describe the system's evolution after deflection…
We propose a learning-based trajectory tracking controller for autonomous robotic platforms whose motion can be described kinematically on $\mathrm{SE}(3)$. The controller is formulated in the dual quaternion framework and operates at the…
Extreme mass-ratio inspirals, in which solar-mass compact bodies spiral into supermassive black holes, are an important potential source for gravitational wave detectors. Because of the extreme mass-ratio, one can model these systems using…
The significant orbital eccentricities of most giant extrasolar planets may have their origin in the gravitational dynamics of initially unstable multiple planet systems. In this work, we explore the dynamics of two close planets on…
The long-term dynamical evolution is a crucial point in recent planetary research. Although the amount of observational data is continuously growing and the precision allows us to obtain accurate planetary orbits, the canonical stability…
The law of centripetal force governing the motion of celestial bodies in eccentric conic sections, has been established and thoroughly investigated by Sir Isaac Newton in his Principia Mathematica. Yet its profound implications on the…
The rotating saddle not only is an interesting system that is able to trap a ball near its saddle point, but can also intuitively illustrate the operating principles of quadrupole ion traps in modern physics. Unlike the conventional models…
In the last years, a growing number of challenging applications in navigation, logistics, and tourism were modeled as orienteering problems. This problem has been proposed in relation to a sport race where certain control points must be…
The problem of minimizing the transfer time between periodic orbits in the Earth-Moon elliptic restricted three-body problem using a multi-mode propulsion system is considered. By employing the true anomaly on the primary orbit as the…
This paper proposes a safety-critical locomotion control framework employed for legged robots exploring through infeasible path in obstacle-rich environments. Our research focus is on achieving safe and robust locomotion where robots…
One of the most important branches of nonlinear control theory is the so-called sliding-mode. Its aim is the design of a (nonlinear) feedback law that brings and maintains the state trajectory of a dynamic system on a given sliding surface.…
In the framework of multi-body dynamics, successive encounters with a third body, even if well outside of its sphere of influence, can noticeably alter the trajectory of a spacecraft. Examples of these effects have already been exploited by…
Among the numerous discoveries resulting from the {\it Kepler} mission are a plethora of compact planetary systems that provide deep insights into planet formation theories. The architecture of such compact systems also produces unique…
In the formation control problem for autonomous robots a distributed control law steers the robots to the desired target formation. A local stability result of the target formation can be derived by methods of linearization and center…
The multiple spacecraft guidance problem for proximity flight in libration point orbit is considered. A nonlinear optimal control problem with continuous-time path constraints enforcing minimum separation between each spacecraft is…
The present paper addresses the problem of existence of an (output) feedback law to the purposes of asymptotically steering to zero a given controlled variable, while keeping all state variables bounded, for any initial conditions in a…
We study the dynamics of two bodies moving on elliptic Keplerian orbits around a fixed center of attraction and interacting only by means of elastic or inelastic collisions. We show that there exists a bounded invariant region: for suitable…
The complexities in the dynamic model of the legged robots make it necessary to utilize model-free controllers in the task of trajectory tracking. In This paper, an adaptive transpose Jacobian approach is proposed to deal with the dynamic…