Related papers: Building a Better B-Dot: Fast Detumbling with Non-…
This research proposes an innovative approach to detumble satellites' triple-axis angular velocities with only one single-axis magnetic torquer. Since magnetic torque is generated perpendicularly to magnetorquers, no intended control torque…
Various actuators are used in spacecraft to achieve attitude stabilization, including thrusters, momentum wheels, and control moment gyros. Small satellites, however, have stringent size, weight, and cost constraints, which makes many…
Detumbling refers to the act of dampening the angular velocity of the satellite. This operation is of paramount importance since it is virtually impossible to nominally perform any other operation without some degree of attitude control.…
The challenge of satellite stabilization, particularly those with uncertain flexible dynamics, has become a pressing concern in control and robotics. These uncertainties, especially the dynamics of a third-party client satellite,…
This paper employs Pulse Width Modulation (PWM) method to a Nonlinear Model Predictive Control (NMPC) for satellite attitude control and detumbling. Magnetic torquers have been used as actuators for the stabilization and attitude control of…
This paper proposes a novel robust adaptive model predictive controller for on-orbit dislodging. We study orbit dislodging where a servicing spacecraft uses a robotic arm to free a jammed and unactuated solar panel mounted on a hybrid hinge…
Given the cost and critical functions of satellite constellations, ensuring mission longevity and safe decommissioning is essential for space sustainability. This article presents a Model Predictive Control for spacecraft trajectory and…
In-Orbit Servicing and Active Debris Removal require advanced robotic capabilities for capturing and detumbling uncooperative targets. This work presents a hierarchical control framework for autonomous robotic capture of tumbling objects in…
In this paper, a dynamic-programming approach to the coupled translational and rotational control of thruster-driven spacecraft is studied. To reduce the complexity of the problem, dynamic-programming-based optimal policies are calculated…
The paper presents a new, robust control algorithm for position trajectory tracking in a 3D space, dedicated to underactuated airships. In order to take into account real characteristics of such vehicles, and to reflect practically…
This paper presents sufficient conditions for small-time local controllability of a control-affine system that describes the rotational motion of a satellite in a circular orbit. The satellite is modeled as a rigid body subject to…
A control allocation algorithm using control Lyapunov functions to determine stabilizing charges and thrusts of hybrid Coulomb spacecraft formations (HCSFs) is presented. The goal is to stabilize a desired configuration while minimizing the…
Soft and soft-rigid hybrid robots are inherently underactuated and operate under tight actuator limits, making task-space control with stability guarantees challenging. Common nonlinear strategies for soft robots (e.g., those based on PD…
With the goal of moving towards implementation of increasingly dynamic behaviors on underactuated systems, this paper presents an optimization-based approach for solving full-body dynamics based controllers on underactuated bipedal robots.…
Safety and stability are common requirements for robotic control systems; however, designing safe, stable controllers remains difficult for nonlinear and uncertain models. We develop a model-based learning approach to synthesize robust…
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 presents a new Lyapunov-based nonlinear model predictive controller (LNMPC) for the attitude control problem of unmanned aerial vehicles (UAVs), which is essential for their functioning operation. The controller is designed based…
The exponential rise in small-satellites and CubeSats in Low Earth Orbit (LEO) poses important challenges for future space traffic management. At altitudes of 600 km and lower, aerodynamic drag accelerates de-orbiting of satellites.…
Envisioned applications for humanoid robots call for the design of balancing and walking controllers. While promising results have been recently achieved, robust and reliable controllers are still a challenge for the control community…
The objective of this work is to demonstrate the utility of Lyapunov functions in control synthesis for the purpose of maintaining and stabilizing a spacecraft in a circular orbit around the L4 point in the circular restricted three body…