Related papers: Neural Power-Optimal Magnetorquer Solution for Mul…
Two popular types of spacecraft actuators are reaction wheels and magnetic torque coils. Magnetic torque coils are particularly interesting because they can be used for both attitude control and reaction wheel momentum management…
This paper presents a learning-based framework for approximating an exact magnetic-field interaction model, supported by both numerical and experimental validation. High-fidelity magnetic-field interaction modeling is essential for…
In this work feedback control laws are designed for achieving three-axis attitude stabilization of inertial pointing spacecraft using only magnetic torquers. The designs are based on an almost periodic model of geomagnetic field along the…
This paper introduces a new multi-model predictive control (MMPC) method for quadrotor attitude control with performance nearly on par with nonlinear model predictive control (NMPC) and computational efficiency similar to linear model…
The complex tasks such as surveillance, construction, search and rescue can benefit of the maneuverability of multirotor Micro Aerial Vehicles (MAVs) to obtain robust, cooperative system behavior and formation control is a prominent…
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…
In this paper, an approach for active power control of individual wind turbines is presented. State-of-the-art controllers typically employ separate control loops for torque and pitch control. In contrast, we use a multivariable control…
In this paper, we present a distributed optimal multiagent control scheme for quadrotor formation tracking under localization errors. Our control architecture is based on a leader-follower approach, where a single leader quadrotor tracks a…
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…
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…
A model predictive control (MPC) framework is developed for station-keeping in spacecraft formation flight along libration point orbits. At each control period, the MPC policy solves a multi-vehicle optimal control problem (MVOCP) that…
The paper develops a Model Predictive Controller for constrained control of spacecraft attitude with reaction wheel actuators. The controller exploits a special formulation of the cost with the reference governor like term, a low complexity…
We develop a methodology for performing approximate optimal control simulations for quantum systems with multiple interacting degrees of freedom. The quantum dynamics are modeled using the first-order Magnus approximation in the interaction…
To overcome the short flight duration of drones, research on in-flight inductive power transfer has been recognized as an essential solution. Thus, it is important to accurately estimate and control the attitude of the drones which operate…
This paper presents a reactive controller for planar manipulation tasks that leverages machine learning to achieve real-time performance. The approach is based on a Model Predictive Control (MPC) formulation, where the goal is to find an…
Model predictive control (MPC) is an optimal control strategy where control input calculation is based on minimizing the predicted tracking error over a finite horizon that moves with time. This strategy has an advantage over conventional…
Existing multirotor-based cargo transportation does not maintain a constant cargo attitude due to underactuation; however, fragile payloads may require a consistent posture. The conventional method is also cumbersome when loading cargo, and…
In this work, we develop a numerically tractable trajectory optimization problem for rest-to-rest attitude transfers with CMG-driven spacecraft. First, we adapt a specialized dynamical model which avoids many of the numerical challenges…
Model predictive control (MPC) is one of the most successful modern control methods. It relies on repeatedly solving a finite-horizon optimal control problem and applying the beginning piece of the optimal input. In this paper, we develop a…
We introduce a method called MASCOT (Multi-Agent Shape Control with Optimal Transport) to compute optimal control solutions of agents with shape/formation/density constraints. For example, we might want to apply shape constraints on the…