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Quadrotor flight is an extremely challenging problem due to the limited control authority encountered at the limit of handling. Model Predictive Contouring Control (MPCC) has emerged as a promising model-based approach for time optimization…
Model Predictive Control (MPC) is an optimal control algorithm with strong stability and robustness guarantees. Despite its popularity in robotics and industrial applications, the main challenge in deploying MPC is its high computation…
This paper proposes an MPC-based controller to efficiently execute multiple hierarchical tasks for underactuated and constrained robotic systems. Existing task-space controllers or whole-body controllers solve instantaneous optimization…
Robotic tasks can be accomplished by exploiting different forms of redundancies. This work focuses on planning redundancy within Model Predictive Control (MPC) in which several paths can be considered within the MPC time horizon. We present…
This paper considers the prescribed performance control (PPC) of spacecraft attitude tracking under multiple physical constraints, focusing on the robust issues. A novel Barrier Lyapunov function is proposed to realize the…
Model Predictive Control (MPC) is a powerful and flexible design tool of high-performance controllers for physical systems in the presence of input and output constraints. A challenge for the practitioner applying MPC is the need of tuning…
In this article the implementation of a controller and specifically of a Model Predictive Controller (MPC) on an Edge Computing device, for controlling the trajectory of an Unmanned Aerial Vehicle (UAV) model, is examined. MPC requires more…
Despite the success of model predictive control (MPC), its application to high-dimensional systems, such as flexible structures and coupled fluid/rigid-body systems, remains a largely open challenge due to excessive computational…
In this project, we attempt to optimize a landing trajectory of a rocket. The goal is to minimize the total fuel consumption during the landing process using different techniques. Once the optimal and feasible trajectory is generated using…
A deep-space exploration mission with low-thrust propulsion to rendezvous with multiple asteroids is investigated. Indirect methods, based on the optimal control theory, are implemented to optimize the fuel consumption. The application of…
This paper presents a Model Predictive Control (MPC) scheme for flight scheduling and energy management of electric aviation networks, where electric aircraft transport passengers between electrified airports equipped with sustainable…
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…
This paper proposes a motion control scheme for robots operating in a dynamic environment with concave obstacles. A Model Predictive Controller (MPC) is constructed to drive the robot towards a goal position while ensuring collision…
This paper considers the application of Model Predictive Control (MPC) to a weighted coverage path planning (WCPP) problem. The problem appears in a wide range of practical applications, including search and rescue (SAR) missions. The basic…
The problem under consideration is to drive a spatial vehicle to a target at a given final time while minimizing fuel consumption. This is a classical optimal control problem in a deterministic setting. However temporary stochastic failures…
A strategy for reducing the number of iterations and computational burden in shrinking horizon Model Predictive Control (SH-MPC) when steering into a prescribed terminal set despite unmeasured disturbances is proposed. This strategy…
Model Predictive Control (MPC) is a popular control approach due to its ability to consider constraints, including input and state restrictions, while minimizing a cost function. However, in practice, these constraints can result in…
We present a Model Predictive Control (MPC) algorithm for energy management in aircraft with hybrid electric propulsion systems consisting of gas turbine and electric motor components. Series and parallel configurations are considered. By…
With the ever growing number of space debris in orbit, the need to prevent further space population is becoming more and more apparent. Refueling, servicing, inspection and deorbiting of spacecraft are some example missions that require…
The aim of this work is to control the longitudinal position of an autonomous vehicle with an internal combustion engine. The powertrain has an inherent dead-time characteristic and constraints on physical states apply since the vehicle is…