Related papers: On Attitude Recovery of Spacecraft using Nonlinear…

We propose a tracking control law for the fully actuated rigid body system in the presence of any unknown constant disturbance by employing quaternions with the stable embedding technique and Lyapunov stability theory. The stable embedding…

This paper addresses the problem of distributed coordination control of spacecraft formation. It is assumed that the agents measure relative positions of each other with a non-zero, unknown constant sensor bias. The translational dynamics…

This paper investigates the effects of geometric nonlinearity and structural flexibility on the flight dynamics of high-aspect-ratio wings representative of high-altitude long endurance aircraft configurations. A coupled aeroelastic flight…

This paper presents the development of a comprehensive dynamics and stabilizing control architecture for Tethered Unmanned Aerial Vehicle (TUAV) systems. The proposed architecture integrates both onboard and ground-based controllers,…

We investigate the use of simple aerodynamic models for the feedback control of aerial vehicles with large flight envelopes. Thrust-propelled vehicles with a body shape symmetric with respect to the thrust axis are considered. Upon a…

This paper presents a framework for aerial manipulation of an extensible cable that combines a high-fidelity model based on partial differential equations (PDEs) with a reduced-order representation suitable for real-time control. The PDEs…

In this paper, we consider the problem of input-output linearization of the longitudinal flight dynamics. In longitudinal flight dynamics, inputs are typically thrust and elevator deflection whereas the outputs are the velocity and the…

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…

Collaborative robots and space manipulators contain significant joint flexibility. It complicates the control design, compromises the control bandwidth, and limits the tracking accuracy. The imprecise knowledge of the flexible joint…

The dead-zone is one of the most common hard nonlinearities in industrial actuators and its presence may drastically compromise control systems stability and performance. In this work, an adaptive variable structure controller is proposed…

The emergence of modular satellites marks a significant transformation in spacecraft engineering, introducing a new paradigm of flexibility, resilience, and scalability in space exploration endeavors. In addressing complex challenges such…

In this paper we present a general tool to handle the presence of zero dynamics which are asymptotically but not locally exponentially stable in problems of robust nonlinear stabilization by output feedback. We show how it is possible to…

Robotic systems operating in real-world environments inevitably encounter unobserved dynamics shifts during continuous execution, including changes in actuation, mass distribution, or contact conditions. When such shifts occur mid-episode,…

This paper deals with the stabilization problem for nonlinear control-affine systems with the use of oscillating feedback controls. We assume that the local controllability around the origin is guaranteed by the rank condition with Lie…

Closed-loop attitude steering can be used to implement a non-standard attitude maneuver by using a conventional attitude control system to track a non-standard attitude profile. The idea has been employed to perform zero-propellant…

Recently, deep space exploration, especially focusing on halo orbits, the periodic orbits of the Moon, has been widely studied. The spacecraft in halo orbits performs periodic orbital motion, which affects the attitude motion by periodic…

This paper deals with the problem of angle-of-attack modulation with the aim of enhancing transient performance of entry guidance during bank reversals, while compensating adverse effects of fast time-varying transient disturbances. An…

Real-world control applications in complex and uncertain environments require adaptability to handle model uncertainties and robustness against disturbances. This paper presents an online, output-feedback, critic-only, model-based…

This paper addresses the problems of stabilization, robust control, and observer design for nonlinear systems. We build upon recently a proposed method based on contraction theory and convex optimization, extending the class of systems to…

This paper proposes a framework for adaptively learning a feedback linearization-based tracking controller for an unknown system using discrete-time model-free policy-gradient parameter update rules. The primary advantage of the scheme over…