Related papers: Six-DOF Spacecraft Dynamics Simulator For Testing …
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…
Existing spacecraft rendezvous and docking control methods largely rely on predefined dynamic models and often exhibit limited robustness in realistic on-orbit environments. To address this issue, this paper proposes an Imitation…
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 present a holistic grasping controller, combining free-space position control and in-contact force-control for reliable grasping given uncertain object pose estimates. Employing tactile fingertip sensors, undesired object displacement…
Intelligent manipulation benefits from the capacity to flexibly control an end-effector with high degrees of freedom (DoF) and dynamically react to the environment. However, due to the challenges of collecting effective training data and…
This paper addresses the distributed attitude synchronization problem of multiple spacecraft with unknown inertia matrices. Two distributed adaptive controllers are proposed for the cases with and without a virtual leader to which a…
The Drag-Free and Attitude Control System is a central element of LISA technology, ensuring the very high dynamic stability of spacecraft and test masses required in order to reach the sensitivity that gravitational wave astronomy in space…
Cooperative transportation via multiple aerial robots has the potential to support various payloads and reduce the chances of them being dropped. Furthermore, autonomously controlled robots render the system scalable with respect to the…
This paper introduces a novel attitude controller for spacecraft subject to actuator saturation and multiple exclusion cone constraints. The proposed solution relies on a two-layer approach where the first layer prestabilizes the system…
This paper addresses the problem of distributed coordination control of spacecraft formation. It is assumed that the agents measure relative positions of each other with a non-zero, unknown constant sensor bias. The translational dynamics…
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…
Heavy-duty operations, typically performed using heavy-duty hydraulic manipulators (HHMs), are susceptible to environmental contact due to tracking errors or sudden environmental changes. Therefore, beyond precise control design, it is…
The level of maturity reached by robust control theory techniques nowadays contributes to a considerable minimization of the development time of an end-to-end control design of a spacecraft system. The advantage offered by this framework is…
This paper presents a passive compliance control for aerial manipulators to achieve stable environmental interactions. The main challenge is the absence of actuation along body-planar directions of the aerial vehicle which might be required…
This paper proposes a unified robust motion controller for the position and force control problems of compliant robot manipulators driven by Series Elastic Actuators (SEAs). It is shown that the dynamic model of the compliant robot includes…
Multi-robot systems, particularly mobile manipulators, face challenges in control coordination and dynamic stability when working together. To address this issue, this study proposes MobiDock, a modular self-reconfigurable mobile…
This study proposes a novel robotic hand that can achieve self-adaptive grasping and a large payload (over 20 kg) with a single actuator. Accordingly, two novel mechanisms, an actuation system with self-motion switching and a self-adaptive…
This paper presents an omnidirectional aerial manipulation platform for robust and responsive interaction with unstructured environments, toward the goal of contact-based inspection. The fully actuated tilt-rotor aerial system is equipped…
In this paper, we introduce a translational force control method with disturbance observer (DOB)-based force disturbance cancellation for precise three-dimensional acceleration control of a multi-rotor UAV. The acceleration control of the…
With the advent of intelligent transport, quadrotors are becoming an attractive solution while lifting or dropping payloads during emergency evacuations, construction works, etc. During such operations, dynamic variations in (possibly…