Related papers: Robust Control For Spacecraft Attitude Tracking Un…
Physical human-robot collaboration (pHRC) requires both compliance and safety guarantees since robots coordinate with human actions in a shared workspace. This paper presents a novel fixed-time adaptive neural control methodology for…
Soft and soft-rigid hybrid robots are inherently underactuated and operate under tight actuator limits, making task-space control with stability guarantees challenging. Common nonlinear strategies for soft robots (e.g., those based on PD…
This paper proposes a prescribed performance function aware hybrid gain finite time sliding mode control framework for a class of nonlinear systems subject to matched disturbances. The hybrid gain structure ensures bounded control effort…
In this work feedback control laws are designed for achieving three-axis attitude stabilization of inertial pointing spacecraft using only magnetic torquers. The designs are based on an almost periodic model of geomagnetic field along the…
This paper considers the tracking control problem for an unknown nonlinear system with time-varying bounded disturbance subjected to a prescribed performance and input constraints. When performance and input constraints are specified…
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…
Robust output tracking is addressed in this paper for a heat equation with Neumann boundary conditions and anti-collocated boundary input and output. The desired reference tracking is solved using the well-known flatness and Lyapunov…
In this paper, we present a prescribed performance control framework for trajectory tracking in Euler-Lagrange systems with unknown dynamics and prescribed input constraints. The proposed approach enforces hard funnel constraints, meaning…
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…
In controlling systems with large operating envelopes, it is often necessary to adjust the desired dynamics according to operating conditions. This paper presents a robust adaptive control architecture for linear parameter-varying (LPV)…
This paper presents a novel Lagrangian approach to attitude tracking for rigid spacecraft using unit quaternions, where the motion equations of a spacecraft are described by a four degrees of freedom Lagrangian dynamics subject to a…
In this paper, we present Robust Model Predictive Control (MPC) problems with adjustable uncertainty sets. In contrast to standard Robust MPC problems with known uncertainty sets, we treat the uncertainty sets in our problems as additional…
This paper presents a constraint-aware control framework for underactuated aerial manipulators, enabling accurate end-effector trajectory tracking while explicitly accounting for safety and feasibility constraints. The control problem is…
In this article, a novel prescribed performance adaptive fixed-time backstepping control strategy is investigated for the attitude tracking of a 3-DOF helicopter. First, a new unified barrier function (UBF) is designed to convert the…
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…
Model Predictive Control (MPC) is a widely known control method that has proved to be particularly effective in multivariable and constrained control. Closed-loop stability and recursive feasibility can be guaranteed by employing accurate…
Spacecraft are vital to space exploration and are often equipped with lightweight, flexible appendages to meet strict weight constraints. These appendages pose significant challenges for modeling and control due to their inherent…
In this paper, anti-unwinding attitude maneuver control for rigid spacecraft is considered. First, in order to avoid the unwinding phenomenon when the system states are restricted to the switching surface, a novel switching function is…
This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The purpose of the controller is to guide the vehicle towards…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…