Related papers: Underactuated Two Stage CubeSat Control Law
We consider the implementation of two-qubit gates when the physical systems used to realize the qubits possess additional quantum states in the accessible energy range. We use optimal control theory to determine the maximum achievable gate…
Tracking the unactuated configuration variable in an underactuated system, in a global sense, has not received much attention. Here we present a scheme to do so for a pendubot - a two link robot actuated only at the first link. We propose a…
Motion control of underactuated systems through the inverse dynamics contains configuration singularities. These limitations in configuration space mainly stem from the inertial coupling that passive joints/bodies create. In this study, we…
This note describes two problems related to the digital implementation of control laws in the infinite dimensional family of matching control laws, namely state estimation and sampled data induced error. The entire family of control laws is…
This paper is concerned with the design of a linear control law for linear systems with stationary additive disturbances. The objective is to find a state feedback gain that minimizes a quadratic stage cost function, while observing chance…
This note describes a method for generating an infinite-dimensional family of nonlinear control laws for underactuated systems. For a ball and beam system, the entire family is found explicitly.
The task of controlling an underactuated robotic finger with a single tendon and a single actuator is difficult. Methods for controlling the class of underactuated systems are available in the literature. However, this particular system…
A novel, model free, approach to experimental closed-loop flow control is implemented on a separated flow. Feedback control laws are generated using genetic programming where they are optimized using replication, mutation and cross-over of…
The paper deals with the modelling and control of a double winded induction generator. The controlled process is an induction generator with distinct excitation winding. At the generator terminal is connected a load (electrical consumer).…
This Technical Note presents a simple control approach for global trajectory tracking and formation control of underactuated surface vessels equipped with only two propellers. The control approach exploits the inherent cascaded structure of…
In this paper we use an affine connection formulation to study an optimal control problem for a class of nonholonomic, under-actuated mechanical systems. In particular, we aim at minimizing the norm-squared of the control input to move the…
Shared control combines human intention with autonomous decision-making. At the low level, the primary goal is to maintain safety regardless of the user's input to the system. However, existing shared control methods-based on, e.g., Model…
Over the several decades, the space debris at LEO has grown rapidly which had caused a serious threat to the operating satellite in an orbit. To avoid the risk of collision and protect the LEO environment, the space robotics ADR concept has…
This paper addresses the motion control problem for underactuated mechanical systems with full attitude control and one translational force input to manage the six degrees of freedom involved in the three-dimensional Euclidean space. These…
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 work studies the null controllability of a system of coupled parabolic PDEs. In particular, our work specializes to an important subclass of these control problems which are coupled by first and zero-order couplings and are,…
This paper proposes the design of a single linear parameter-varying (LPV) controller for the attitude control of CubeSats using electro spray thrusters. CubeSat attitude control based on electro spray thrusters faces two main challenges.…
This paper presents the inverse kinematic analysis and parameters identification of a novel aerial manipulation system. This system consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution…
Reliable controllers with high flexibility and performance are necessary for the control of intricate, advanced, and expensive systems such as aircraft, marine vessels, automotive vehicles, and satellites. Meanwhile, control allocation has…
In this paper, we propose the reduced model for the full dynamics of a bicycle and analyze its nonlinear behavior under a proportional control law for steering. Based on the Gibbs-Appell equations for the Whipple bicycle, we obtain a…