Related papers: Spacecraft Relative Motion Dynamics and Control Us…
This paper explores the problem of analytically approximating the orbital state for a subset of orbits in a rotating potential with oblateness and ellipticity perturbations. This is done by isolating approximate differential equations for…
This paper presents a new Lyapunov-based nonlinear model predictive controller (LNMPC) for the attitude control problem of unmanned aerial vehicles (UAVs), which is essential for their functioning operation. The controller is designed based…
The circular restricted three-body problem (CR3BP) with solar radiation pressure (SRP) has often been analyzed with assumptions made on a spacecraft's attitude, such that the problem remains Hamiltonian. These assumptions are…
The Zero Propellant Maneuver (ZPM) maneuvers the space station by large angle, utilizing the Control Momentum Gyroscopes (CMGs) only. A robust tracking guidance strategy is proposed to enhance its performance. It is distinguished from the…
The three-body problem, which describes three masses interacting through Newtonian gravity without any restrictions imposed on the initial positions and velocities of these masses, has attracted the attention of many scientists for more…
The paper presents a new, robust control algorithm for position trajectory tracking in a 3D space, dedicated to underactuated airships. In order to take into account real characteristics of such vehicles, and to reflect practically…
Reliable quasi-static object manuipulation and robotic locomotion require verification of the stability of equilibria under rigid contacts and friction. In a recent paper, M. Posa, M. Tobenkin, and R. Tedrake demonstrated that…
This paper investigates the problem of the dynamic balance control of multi-arm free-floating space robot during capturing an active object in close proximity. The position and orientation of space base will be affected during the operation…
The ADM formalism together with a constant mean curvature (CMC) temporal gauge is used to derive the monotonic decay of a weak Lyapunov function of the Einstein dynamical equations in an expanding universe with a positive cosmological…
The constants of motion of the following systems are deduced: a relativistic particle with linear dissipation, a no-relativistic particle with a time explicitly depending force, a no-relativistic particle with a constant force and time…
The paper investigates a generalization of the classical Sitnikov problem, concentrating on the movement of a satellite along the Z-axis as it interacts with $n$ primary bodies in periodic motion. It establishes the existence of an infinite…
This paper considers discontinuous dynamical systems, i.e., systems whose associated vector field is a discontinuous function of the state. Discontinuous dynamical systems arise in a large number of applications, including optimal control,…
Spacecraft detumbling with magnetic torque coils is an inherently underactuated control problem. Contemporary and classical magnetorquer detumbling methods do not adequately consider this underactuation, and suffer from poor performance as…
We propose a method for data-driven practical stabilization of nonlinear systems with provable guarantees, based on the concept of Nonparametric Chain Policies (NCPs). The approach employs a normalized nearest-neighbor rule to assign, at…
In this paper, the attitude tracking problem is considered using the rotation matrices. Due to the inherent topological restriction, it is impossible to achieve global attractivity with any continuous attitude control system on $SO(3)$.…
Achieving highly dynamic behaviors on humanoid robots, such as running, requires controllers that are both robust and precise, and hence difficult to design. Classical control methods offer valuable insight into how such systems can…
A geometric estimator is proposed for the rigid body attitude under multi-rate measurements using discrete-time Lyapunov stability analysis in this work. The angular velocity measurements are assumed to be sampled at a higher rate compared…
Previously, we have considered the equations of motion of the three-body problem in a Lagrange form (which means a consideration of relative motions of 3-bodies in regard to each other). Analyzing such a system of equations, we considered…
We present a novel, high-performance attitude control law for multicopters, with a view to recovery from large disturbances. The controller is compared to three well-established alternatives from the literature. All controllers considered…
In this short note, we investigate the feedback control of relativistic dynamics propelled by mass ejection, modeling, e.g., the relativistic rocket control or the relativistic (space-travel) flight control. As an extreme case, we also…