Related papers: Spacecraft Attitude Pointing Control under Pointin…
We develop an adaptive control architecture to achieve stabilization and command following of uncertain dynamical systems with improved transient performance. Our framework consists of a new reference system and an adaptive controller. The…
This work presents an event-triggered controller for spacecraft rendezvous hovering phases. The goal is to maintain the chaser within a bounded region with respect to the target. The main assumption is that the chaser vehicle has impulsive…
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…
Traditional vertical take-off and landing (VTOL) aircraft can not achieve optimal efficiency for various payload weights and has limited mobility due to its under-actuation. With the thrust-vectoring mechanism, the proposed modular team UAV…
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 article presents a unified synchronization framework with application to precision formation flying spacecraft. Central to the proposed innovation, in applying synchronization to both translational and rotational dynamics in the…
In this paper, we consider the problem of designing prefix-based optimal controllers for switched linear systems over finite horizons. This problem arises in fault-tolerant control, when system faults result in abrupt changes in dynamics.…
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…
Safety is the foremost concern for autonomous platooning. The vehicle-to-vehicle (V2V) communication delay and the sudden appearance of obstacles will trigger the safety of the intended functionality (SOTIF) issues for autonomous…
This paper presents a time-constrained model predictive control strategy for the 6 degree-of-freedom (6DOF) autonomous rendezvous and docking problem between a controllable "deputy" spacecraft and an uncontrollable "chief" spacecraft. The…
This paper proposes a solution to the attitude tracking problem for a novel quadrotor tailsitter unmanned aerial vehicle called swiveling biplane quadrotor. The proposed vehicle design addresses the lack of yaw control authority in…
This paper provides new results for a robust adaptive tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid…
This paper presents a novel synthesis method for designing an optimal and robust guidance law for a non-throttleable upper stage of a launch vehicle, using a convex approach. In the unperturbed scenario, a combination of lossless and…
This paper presents a novel methodology to enforce motion safety guarantees even in the event of a sudden loss of control capabilities by any agent within a multi-agent system. This passive safety methodology permits the replacement of…
Underwater robots play a crucial role in exploring aquatic environments. The ability to flexibly adjust their attitudes is essential for underwater robots to effectively accomplish tasks in confined space. However, the highly coupled six…
Autonomous vehicles are the upcoming solution to most transportation problems such as safety, comfort and efficiency. The steering control is one of the main important tasks in achieving autonomous driving. Model predictive control (MPC) is…
Intelligent aerial platforms such as Unmanned Aerial Vehicles (UAVs) are expected to revolutionize various fields, including transportation, traffic management, field monitoring, industrial production, and agricultural management. Among…
This paper proposes an Adaptive Robust Model Predictive Control strategy for lateral control in lane keeping problems, where we continuously learn an unknown, but constant steering angle offset present in the steering system. Longitudinal…
In this paper, we investigate the problem of unified prescribed performance tracking for a class of non-square strict-feedback nonlinear systems under relaxed controllability conditions. By using a skillful matrix decomposition and…
We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they…