Related papers: Modelling, Simulation, and Control of a Flexible S…
Spacecraft are vital to space exploration and are often equipped with lightweight, flexible appendages to meet strict weight constraints. These appendages pose significant challenges for modeling and control due to their inherent…
This paper focuses on the attitude motion of spacecraft systems featuring asymmetric spacecraft platforms and unbalanced rotors. Through perturbation expansion, the spacecraft dynamic equation is simplified as a linear periodically…
This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transformation, we convert diverse vehicle…
Model-based manipulation of deformable objects has traditionally dealt with objects while neglecting their dynamics, thus mostly focusing on very lightweight objects at steady state. At the same time, soft robotic research has made…
A new model-free setting and the corresponding "intelligent" P and PD controllers are employed for the longitudinal and lateral motions of a vehicle. This new approach has been developed and used in order to ensure simultaneously a best…
This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…
This paper addresses the design and application controller for a small-size unmanned aerial vehicle (UAV). In this work, the main objective is to study the modeling and attitude controller design for a small size helicopter. Based on a…
This paper presents a novel type of mobile rolling robot designed as a modular platform for non-prehensile manipulation, highlighting the associated control challenges in achieving balancing control of the robotic system. The developed…
Space mission design places a premium on cost and operational efficiency. The search for new science and life beyond Earth calls for spacecraft that can deliver scientific payloads to geologically rich yet hazardous landing sites. At the…
This work presents a closed-loop guidance algorithm for six-degrees of freedom spacecraft rendezvous with a passive target flying in an eccentric orbit. The main assumption is that the chaser vehicle has an attitude control system, based on…
In this paper the problem of guidance formulation for autonomous soft landing of unmanned aerial vehicles on stationary, moving, or accelerating / maneuvering ground vehicles at desired approach angles in both azimuth and elevation is…
The adaptivity and maneuvering capabilities of Autonomous Underwater Vehicles (AUVs) have drawn significant attention in oceanic research, due to the unpredictable disturbances and strong coupling among the AUV's degrees of freedom. In this…
The control problem of a multi-copter swarm, mechanically coupled through a modular lattice structure of connecting rods, is considered in this article. The system's structural elasticity is considered in deriving the system's dynamics. The…
Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the…
Due to the complexity and inconstancy of the space environment, accurate mathematical models for spacecraft rendezvous are difficult to obtain, which consequently complicates the control tasks. In this paper, a linearized time-variant plant…
The deformability of soft condensed matter often requires modelling of hydrodynamical aspects to gain quantitative understanding. This, however, requires specialised methods that can resolve the multiscale nature of soft matter systems. We…
In this paper, anti-unwinding attitude maneuver control for rigid spacecraft is considered. First, in order to avoid the unwinding phenomenon when the system states are restricted to the switching surface, a novel switching function is…
The intrinsic compliance and high degree of freedom (DoF) of redundant soft manipulators facilitate safe interaction and flexible task execution. However, effective kinematic control remains highly challenging, as it must handle…
Fault tolerance is achieved through multiply redundant hardware systems in large civil aircraft. This means of achieving fault tolerance is infeasible for small compact unmanned aerial vehicles. In this paper we apply a fault tolerant…
Recent spacecraft mission concepts propose larger payloads that have lighter, less rigid structures. For large lightweight structures, the natural frequencies of their vibration modes may fall within the attitude controller bandwidth,…