Related papers: Developing and implementing a CubeSat's equations …
Traditional vertical take-off and landing (VTOL) aircraft can not achieve optimal efficiency for various payload weights and has limited mobility due to its under-actuation. With the thrust-vectoring mechanism, the proposed modular team UAV…
When the first CubeSats were launched nearly two decades ago, few people believed that the miniature satellites would likely prove to be a useful scientific tool. Skeptics abounded. However, the last decade has seen the highly successful…
Soft landing on small celestial bodies (SCBs) poses unique challenges, as gravitational models poorly characterize the higher-order gravitational effects of SCBs. Existing control approaches lack guarantees for safety under gravitational…
We address the challenge of real-time planning of minimum-time trajectories over multiple waypoints, onboard multirotor UAVs. Previous works demonstrated that achieving a truly time-optimal trajectory is computationally too demanding to…
Fixed-wing unmanned aerial vehicles (UAVs) offer endurance and efficiency but lack low-speed agility due to highly coupled dynamics. We present an end-to-end sensing-to-control pipeline that combines bio-inspired hardware, physics-informed…
We consider the problem of tracking moving targets using mobile wireless sensors (of possibly different types). This is a joint estimation and control problem in which a tracking system must take into account both target and sensor…
The spacecraft attitude tracking problem is addressed with actuator faults and uncertainties among inertias, external disturbances, and, in particular, state estimates. A continuous sliding mode attitude controller is designed using…
The use of parallel manipulators in aerospace engineering has gained significant attention due to their ability to provide improved stability and precision. This paper presents the design, control, and analysis of 'STEWIE', which is a…
A novel non-reactive thrust principle based on controlling the angular momentum of a material body is proposed. Theoretically, it is shown that asymmetric emission/absorption of low-energy particle fluxes with spin in a direction…
CubeSats offer a cost-effective platform for various space missions, but their limited fuel capacity and susceptibility to environmental disturbances pose significant challenges for precise orbital maneuvering. This paper presents a novel…
The attitude control of a spacecraft is integral to achieving mission success. However, failures in actuators such as reaction wheels are detrimental and can often lead to an early end of mission. We propose a Lyapunov-based adaptive…
This paper presents the mathematical modeling, controller design, and flight-testing of an over-actuated Vertical Take-off and Landing (VTOL) tiltwing Unmanned Aerial Vehicle (UAV). Based on simplified aerodynamics and first-principles, a…
Adverse road conditions can cause vehicle yaw instability and loss of traction. To compensate for the instability under such conditions, corrective actions must be taken. In comparison to a mechanical differential, an electronic…
Utilizing differential atmospheric forces in the Very Low Earth Orbits (VLEO) regime for the control of the relative motion within a satellite formation is a promising option as any thrusting device has tremendous effects on the mission…
This work addresses the problem of designing a visual servo controller for a multirotor vehicle, with the end goal of tracking a moving spherical target with unknown radius. To address this problem, we first transform two bearing…
The exploration of asteroids and comets is important in the quest for the formation of the Solar System and it is an important step for human space travel. Moving on the surface of asteroids is challenging for future robotic explorers due…
This paper aims at the teaching contents of "Fluctuation and Regulation in Speed of Machines" for students, explores the effect of the flywheel on the speed regulation of the mechanism system and its influencing factors, designs an…
Drones provide a versatile platform for remote sensing and atmospheric studies. However, strict payload mass limits and intense vibrations have proven obstacles to adoption for astronomy. We present a concept for system-level testing of a…
This paper proposes an adaptive tracking strategy with mass-inertia estimation for aerial transportation problems of multi-rotor UAVs. The dynamic model of multi-rotor UAVs with disturbances is firstly developed with a linearly…
Power consumption is a critical constraint for CubeSat based quantum communication, where tracking systems often dominate the onboard power budget. We demonstrate an energy-efficient approach that enables reliable satellite tracking at…