Related papers: Reference Governor for Constrained Spacecraft Orbi…

This study presents autonomous guidance and control strategies for the purpose of reconfiguring close-range multi-satellite formations. The formation under consideration includes $N$ under-actuated deputy satellites and an uncontrolled…

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…

Constraint admissible positively invariant (CAPI) sets play a pivotal role in ensuring safety in control and planning applications, such as the recursive feasibility guarantee of explicit reference governor and model predictive control.…

This paper presents a computationally efficient model predictive control formulation that uses an integral Chebyshev collocation method to enable rapid operations of autonomous agents. By posing the finite-horizon optimal control problem…

Multi-agent systems are increasingly applied in space missions, including distributed space systems, resilient constellations, and autonomous rendezvous and docking operations. A critical emerging application is collaborative spacecraft…

This paper deals with the tracking control problem for a class of unknown pure feedback system with pure state constraints on the state variables and unknown time-varying bounded disturbances. An adaptive controller is presented for such…

The growing interest in space activities has led to the emergence of new space operators and innovative mission concepts. Small satellites such as CubeSats reduce mission costs and are typically deployed in constellations or formation…

We propose a simple, practical and intuitive approach to improve the performance of a conventional controller in uncertain environments using deep reinforcement learning while maintaining safe operation. Our approach is motivated by the…

Model Reference Adaptive Control based on Lyapunov stability theory is developed for gust load alleviation of nonlinear aeroelastic systems. The controller operates on a nonlinear reduced-order model derived from Taylor series expansion and…

This paper proposes a method for enlarging the region of attraction of Linear Model Predictive Controllers (MPC) when tracking piecewise-constant references in the presence of pointwise-in-time constraints. It consists of an add-on unit,…

This work addresses the problem of constrained motion control of the uncrewed surface vessels. The constraints are imposed on states/inputs of the vehicles due to the physical limitations, mission requirements, and safety considerations. We…

As more inverter-connected renewable resources are integrated into the grid, frequency stability may degrade because of the reduction in mechanical inertia and damping. A common approach to mitigate this degradation in performance is to use…

This paper introduces the Feasibility Governor (FG): an add-on unit that enlarges the region of attraction of Model Predictive Control by manipulating the reference to ensure that the underlying optimal control problem remains feasible. The…

This paper introduces the Compliant Explicit Reference Governor (CERG), a modular reference management system that enables robots to interact physically with their environment under provable guarantees. The CERG is an intermediate layer…

Legged-aerial multimodal robots can make the most of both legged and aerial systems. In this paper, we propose a control framework that bypasses heavy onboard computers by using an optimization-free Explicit Reference Governor that…

This work presents the first application of the state-of-the-art Koenig-D'Amico reachable set theory solver to cislunar, chaotic relative motion in the Circular-Restricted Three-Body Problem (CR3BP). The relative motion dynamics of two…

In recent quantum algorithmic developments, a feedback-based approach has shown promise for preparing quantum many-body system ground states and solving combinatorial optimization problems. This method utilizes quantum Lyapunov control to…

With the goal of increasing the speed and efficiency in robotic dual arm manipulation, a novel control approach is presented that utilizes intentional simultaneous impacts to rapidly grasp objects. This approach uses the time-invariant…

This work is devoted to generating optimal guidance commands in real time for attitude-constrained solar sailcrafts in coplanar circular-to-circular interplanetary transfers. Firstly, a nonlinear optimal control problem is established, and…

Inversion-based feedforward control relies on an accurate model that describes the inverse system dynamics. The gated recurrent unit (GRU), which is a recent architecture in recurrent neural networks, is a strong candidate for obtaining…