Related papers: Reference Governor for Constrained Spacecraft Orbi…
Satellite rendezvous and docking (RvD) maneuvers are essential for satellite servicing and in-orbit assembly. Traditional approaches often treat translational and rotational motions independently, simplifying control design but potentially…
We are seeking control design paradigms for legged systems that allow bypassing costly algorithms that depend on heavy on-board computers widely used in these systems and yet being able to match what they can do by using less expensive…
In this paper, we consider the problem of precise attitude control for geodetic missions, such as the GRACE Follow-on (GRACE-FO) mission. Traditional and well-established control methods, such as Proportional-Integral-Derivative (PID)…
In this work, we develop a numerically tractable trajectory optimization problem for rest-to-rest attitude transfers with CMG-driven spacecraft. First, we adapt a specialized dynamical model which avoids many of the numerical challenges…
The paper considers a computational governor strategy to facilitate the implementation of Model Predictive Control (MPC) based on inexact optimization when the time available to compute the solution may be insufficient. In the setting of…
The Zero Propellant Maneuver (ZPM) maneuvers the space station by large angle, utilizing the Control Momentum Gyroscopes (CMGs) only. A robust tracking guidance strategy is proposed to enhance its performance. It is distinguished from the…
This paper presents a prescribed performance-based tracking control strategy for the atmospheric reentry flight of space vehicles subject to rapid maneuvers during flight mission. A time-triggered non-monotonic performance funnel is…
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…
The spacecraft attitude tracking problem is addressed with actuator faults and uncertainties among inertias, external disturbances, and, in particular, state estimates. A continuous sliding mode attitude controller is designed using…
Safe and smooth robot motion around obstacles is an essential skill for autonomous robots, especially when operating around people and other robots. Conventionally, due to real-time operation requirements and onboard computation…
This paper proposes an output feedback controller capable of ensuring steady-state offset-free tracking for ramp and sinusoidal reference signals while ensuring local stability and state and input constraints fulfillment. The proposed…
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…
Iterative gradient-based optimization algorithms are widely used to solve difficult or large-scale optimization problems. There are many algorithms to choose from, such as gradient descent and its accelerated variants such as Polyak's Heavy…
Future power systems will rely heavily on micro grids with a high share of decentralised renewable energy sources and energy storage systems. The high complexity and uncertainty in this context might make conventional power dispatch…
The objective of this work is to demonstrate the utility of Lyapunov functions in control synthesis for the purpose of maintaining and stabilizing a spacecraft in a circular orbit around the L4 point in the circular restricted three body…
A cascaded online learning flight control system has been developed and enhanced with respect to action smoothness. In this paper, we investigate the convergence performance of the control system, characterized by the increment of a…
Growing penetration of renewable generation in power systems brings more challenges in transient stability assessment using direct methods. One of the reasons is the inability to assess the risk of instability brought by tripping of a large…
With the goal of enabling the exploitation of impacts in robotic manipulation, a new framework is presented for control of robotic manipulators that are tasked to execute nominally simultaneous impacts. In this framework, we employ tracking…
This paper presents adaptive robust quadratic program (QP) based control using control Lyapunov and barrier functions for nonlinear systems subject to time-varying and state-dependent uncertainties. An adaptive estimation law is proposed to…
Autonomous spacecraft control for mission phases such as launch, ascent, stage separation, and orbit insertion remains a critical challenge due to the need for adaptive policies that generalize across dynamically distinct regimes. While…