Related papers: Precision Attitude Stabilization with Intermittent…
This paper presents a novel nonlinear backstepping control law for continuous, low-thrust station-keeping in the Earth-Moon system. Quasi-periodic libration point orbits are targeted under a high-fidelity model of the dynamics. Almost…
The rigid-body attitude tracking using vector and biased gyro measurements with unknown inertia matrix is studied in this note. First, a gyro-bias observer with global exponential stability is designed. Then, an attitude tracking controller…
Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, the control of them is very challenging given their intrinsic…
We present a new Lyapunov-based switching attitude controller for energy-efficient real-time selection of the torque inputted to an uncrewed aerial vehicle (UAV) during flight. The proposed method, using quaternions to describe the attitude…
Solving optimal control problems to determine a stabilizing controller involves a significant computational effort. Time-varying optimal control provides a remedy by designing a tracking system, given as an ordinary differential equation,…
This paper presents an integrated model-learning predictive control scheme for spacecraft orbit-attitude station-keeping in the vicinity of asteroids. The orbiting probe relies on optical and laser navigation while attitude measurements are…
This paper addresses the global exponential attitude tracking of a spacecraft when gyro measurements are corrupted by bias. Based on contraction analysis, an exponentially convergent nonlinear observer is designed first to estimate the gyro…
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…
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 proposes a dynamic analytical initialization method for spacecraft attitude estimators. In the proposed method, the desired attitude matrix is decomposed into two parts: one is the constant attitude matrix at the very start and…
A solar sail is one of the most promising space exploration system because of its theoretically infinite specific impulse using solar radiation pressure (SRP). Recently, some researchers proposed "transformable spacecrafts" that can…
We design a reduced attitude controller for reorienting the spin axis of a gyroscope in a geometric control framework. The proposed controller preserves the inherent gyroscopic stability associated with a spinning axis-symmetric rigid body.…
A global model is presented that can be used to study attitude maneuvers of a rigid spacecraft in a circular orbit about a large central body. The model includes gravity gradient effects that arise from the non-uniform gravity field and…
This paper addresses the problem of risk-aware fixed-time stabilization of a class of uncertain, output-feedback nonlinear systems modeled via stochastic differential equations. First, novel classes of certificate functions, namely…
In this paper, a sampling-based Stochastic Model Predictive Control algorithm is proposed for discrete-time linear systems subject to both parametric uncertainties and additive disturbances. One of the main drivers for the development of…
This paper presents a new control, namely additive-state-decomposition dynamic inversion stabilized control, that is used to stabilize a class of multi-input multi-output (MIMO) systems subject to nonparametric time-varying uncertainties…
This work addresses the problem of robust attitude control of quadcopters. First, the mathematical model of the quadcopter is derived considering factors such as nonlinearity, external disturbances, uncertain dynamics and strong coupling.…
In this expository paper, which covers material presented at the NATO Advanced Study Institute "Nonlinear Analysis, Differential Equations, and Control" (Montreal, Jul/Aug 1998), we deal with several questions related to stability and…
Adaptive optimal control using value iteration initiated from a stabilizing control policy is theoretically analyzed in terms of stability of the system during the learning stage without ignoring the effects of approximation errors. This…
With the development of the space missions, there are extensive missions in the demand of the prescribed time convergence. However, it is still a difficult work to combine the prescribed time method with the sliding mode control due to the…