Related papers: Continuous Optimization-Based Drift Counteraction …
Learning-based control algorithms require data collection with abundant supervision for training. Safe exploration algorithms ensure the safety of this data collection process even when only partial knowledge is available. We present a new…
Learning performant robot manipulation policies can be challenging due to high-dimensional continuous actions and complex physics-based dynamics. This can be alleviated through intelligent choice of action space. Operational Space Control…
We present a receding-horizon optimal control for nonlinear continuous-time systems subject to state constraints. The cost is a quadratic finite-horizon integral. The key enabling technique is a new constrained approximate dynamic…
This paper focuses on the issue of how to realize spacecraft attitude control with guaranteed performance while conspicuously reducing the actuator acting frequency simultaneously. The prescribed performance control (PPC) scheme is often…
Reactive trajectory optimization for robotics presents formidable challenges, demanding the rapid generation of purposeful robot motion in complex and swiftly changing dynamic environments. While much existing research predominantly…
Quadrotor flight is an extremely challenging problem due to the limited control authority encountered at the limit of handling. Model Predictive Contouring Control (MPCC) has emerged as a promising model-based approach for time optimization…
The paper develops the Adaptive Dynamic Programming Toolbox (ADPT), which solves optimal control problems for continuous-time nonlinear systems. Based on the adaptive dynamic programming technique, the ADPT computes optimal feedback…
Aerospace production volumes have increased over time and robotic solutions have been progressively introduced in the aeronautic assembly lines to achieve high-quality standards, high production rates, flexibility and cost reduction.…
The specific objective of this paper is to develop a tool that calculates the optimal trajectory of the follower aircraft as it completes a formation rejoin, and then maintains the formation position, defined as a ring of points, until a…
Trajectory optimization is a fundamental problem in robotics. While optimization of continuous control trajectories is well developed, many applications require both discrete and continuous, i.e., hybrid, controls. Finding an optimal…
We propose a differentiable optimization framework for flip-and-landing trajectory design of reusable spacecraft, exemplified by the Starship vehicle. A deep neural network surrogate, trained on high-fidelity CFD data, predicts aerodynamic…
The attitude tracking problem with preassigned performance requirements has earned tremendous interest in recent years, and the Prescribed Performance Control (PPC) scheme is often adopted to tackle this problem. Nevertheless, traditional…
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…
This paper presents a novel approach for robust periodic attitude control of satellites. Respecting the periodicity of the satellite dynamics in the synthesis allows to achieve constant performance and robustness requirements over the…
Spacecraft trajectory design is a global search problem, where previous work has revealed specific solution structures that can be captured with data-driven methods. This paper explores two global search problems in the circular restricted…
We present DDTO--deferred-decision trajectory optimization--a framework for trajectory generation with resilience to unmodeled uncertainties and contingencies. The key idea is to ensure that a collection of candidate targets is reachable…
This work presents an efficient method to solve a class of continuous-time, continuous-space stochastic optimal control problems of robot motion in a cluttered environment. The method builds upon a path integral representation of the…
This study describes the development of a novel numerical optimization framework to maximize the endurance of unmanned aerial vehicles (UAVs). We address the problem of numerically determining the optimal thrust and cruise angle of attack…
This paper studies the attitude control of a satellite in three-axis by thrusters. The mathematical model of attitude dynamics and kinematics of the satellite is represented as a switched system with sub-systems. Each sub-system is defined…
This survey article deals with applications of optimal control to aerospace problems with a focus on modern geometric optimal control tools and numerical continuation techniques. Geometric optimal control is a theory combining optimal…