Related papers: Precision Attitude Stabilization with Intermittent…

This study proposes a control strategy to ensure the safe operation of modern power systems with high penetration of inverter-based resources (IBRs) within an optimal operation framework. The objective is to obtain operating points that…

Satellite dynamics in unknown environments are inherently uncertain due to factors such as varying gravitational fields, atmospheric drag, and unpredictable interactions with space debris or other celestial bodies. Traditional sliding mode…

This paper addresses the modeling and attitude control of jumping quadrupeds in low-gravity environments. First, a convex decomposition procedure is presented to generate high-accuracy and low-cost collision geometries for quadrupeds…

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 presents a control methodology for achieving orbital stabilization with simultaneous time synchronization of periodic trajectories in underactuated robotic systems. The proposed approach extends the classical transverse…

In balancing safety with the nominal control objectives, e.g., stabilization, it is desirable to reduce the time period when safety filters are in effect. Inspired by traditional spacecraft maneuvers, and with the ultimate goal of reducing…

This paper proposes an active model-based fault and failure tolerant control scheme for a class of marine vehicles with thruster redundancy. Unlike widely used state and parameter estimation methods, where the estimation errors are utilized…

This study presents a novel, continuous finite-time control strategy for a class of nonlinear systems subject to matched uncertainties with unknown bounds. We propose an Adaptive Disturbance Observer-based Full-order Integral-Terminal…

In this paper, we present a new terminal sliding mode control to achieve predefined-time stability of robot manipulators. The proposed control is developed based on a novel predefined-time terminal sliding mode (PTSM) surface, on which the…

Power systems with a high penetration of renewable generation are vulnerable to frequency oscillation and voltage instability. Traditionally, the stability of power systems is considered either in terms of local stability or as an angle…

Spacecraft relative motion planning is concerned with the design and execution of maneuvers relative to a nominal target. These types of maneuvers are frequently utilized in missions such as rendezvous and docking, satellite inspection and…

This paper presents extensions of finite-time stability results to some prototypical adaptive control and estimation frameworks. First, we present a novel scheme of online parameter estimation that guarantees convergence of the estimation…

We study the problem of global exponential stabilization of a force- and torque-controlled unicycle model in discrete time. To this end, we extend a recently introduced approach to model predictive control (MPC) in which a flexible number…

This work introduces two lightweight model predictive control (MPC) approaches for attitude tracking with reaction wheels during spacecraft rendezvous synchronization. Both approaches are based on a novel attitude deviation formulation,…

This paper addresses the leader-following attitude consensus problem for a group of spacecraft when at least one follower can access the leader's attitude and velocity relative to the inertial space. A nonlinear distributed observer is…

This technical note is concerned with aeroelastic flutter problems: the analysis of aeroelastic systems undergoing airspeed-dependent dynamic instability. Existing continuation methods for parametric stability analysis are based on marching…

This paper presents a complementary approach to establish stability of finite receding horizon control with a terminal cost. First a new augmented stage cost is defined by rotating the terminal cost. Then a one-step optimisation problem is…

This paper outlines a complete methodology for modeling an on-orbit servicing mission scenario and designing a feedback control system for the attitude dynamics that is guaranteed to robustly meet pointing requirements, despite model…

The discrete-time implementation of the super-twisting sliding mode controller for a plant with disturbances with bounded slope, zero-order hold actuation, and actuator constraints is considered. Motivated by restrictions of existing…

Measuring grasp stability is an important skill for dexterous robot manipulation tasks, which can be inferred from haptic information with a tactile sensor. Control policies have to detect rotational displacement and slippage from tactile…