Related papers: Modelling, Simulation, and Control of a Flexible S…
Increasingly stringent throughput requirements in the industry necessitate the need for lightweight design of high-precision motion systems to allow for high accelerations, while still achieving accurate positioning of the moving-body. The…
Lightsail spacecraft, propelled to relativistic velocities via photon pressure using high power density laser radiation, offer a potentially new route to space exploration within and beyond the solar system, extending to interstellar…
Unmanned aerial vehicle (UAV) with slung load system is a classic air transportation system. In practical applications, the suspension point of the slung load does not always align with the center of mass (CoM) of the UAV due to mission…
This paper presents an end-to-end framework for robust structure/control optimization of an industrial benchmark. When dealing with space structures, a reduction of the spacecraft mass is paramount to minimize the mission cost and maximize…
This paper proposes a novel extension of the Simplex architecture with model switching and model learning to achieve safe velocity regulation of self-driving vehicles in dynamic and unforeseen environments. To guarantee the reliability of…
Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based…
We describe a new temporal verification framework for safety and robustness analysis of nonlinear control laws, our target application being a space launcher vehicle. Robustness analysis, formulated as a nonconvex nonlinear optimization…
This paper presents a model based experimental investigation to demonstrate the usefulness of an active damping strategy to manage fluid sloshing motion in spacecraft tanks. The active damping strategy is designed to reduce the degrading…
This paper discusses translation and attitude control in spacecraft rendezvous and soft docking. The target spacecraft orbit can be either circular or elliptic. The high fidelity model for this problem is intrinsically a nonlinear system…
Passive flow control via fluid-structure interaction (FSI) is a promising paradigm for unmanned aerial vehicles operating in vortex-dominated low Reynolds number regimes. A flexible structure has the potential to passively alter key…
Propellant sloshing is a well-known, but not completely mastered phenomenon in space vehicles. It is particularly critical in both microgravity environments - such as interplanetary spacecraft requiring high pointing stability - and high-g…
This paper presents, for the first time, the soft planar vertical take-off and landing (Soft-PVTOL) aircraft. This concept captures the soft aerial vehicle's fundamental dynamics with a minimum number of states and inputs but retains the…
This paper proposes a novel method for multi-lane convoy formation control that uses large language models (LLMs) to tackle coordination challenges in dynamic highway environments. Each connected and autonomous vehicle in the convoy uses a…
A deformable land-air robot is introduced with excellent driving and flying capabilities, offering a smooth switching mechanism between the two modes. An elaborate coupled dynamics model is established for the robot, including rotors,…
Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…
Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, the control of them is very challenging given their intrinsic…
Recently worldwide interest is growing toward commercial, military or scientific Unmanned Surface Vehicle (USV) and hence there is required to develop their guidance, navigation, and control (GNC) systems. Real USVs are a relatively new…
This paper aims to enhance the efficiency of validation and verification campaigns involving fuel sloshing phenomena. Our first contribution is the development of an open-source, high-fidelity and computationally efficient two-dimensional…
Recently, a practical and publicly accessible satellite standard called the SmallSat has amplified public involvement in orbital research. This allows for flexible and efficient deployments of impactful low-earth-orbit experiments that…
Compared to conventional robots, flexible manipulators offer many advantages, such as faster end-effector velocities and less energy consumption. However, their flexible structure can lead to undesired oscillations. Therefore, the applied…