Related papers: A flatness-based predictive controller for six-deg…
This paper proposes a model predictive trajectory tracking approach for quadrotors subject to input constraints. Our proposed approach relies on a hierarchical control strategy with an outer-loop feedback generating the required thrust and…
We present a multi-rate control architecture that leverages fundamental properties of differential flatness to synthesize controllers for safety-critical nonlinear dynamical systems. We propose a two-layer architecture, where the high-level…
In this paper, attitude maneuver control without unwinding phenomenon is investigated for rigid spacecraft. First, a novel switching function is constructed by a hyperbolic sine function. It is shown that the spacecraft system possesses the…
The ability to achieve precise and smooth trajectory tracking is crucial for ensuring the successful execution of various tasks involving robotic manipulators. State-of-the-art techniques require accurate mathematical models of the robot…
This paper investigates the boresight alignment control problem under safety constraints and performance requirements, involving pointing-forbidden constraint, attitude angular velocity limitation, and pointing accuracy requirement.…
Terrestrial and aerial bimodal vehicles have gained widespread attention due to their cross-domain maneuverability. Nevertheless, their bimodal dynamics significantly increase the complexity of motion planning and control, thus hindering…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…
This paper presents a framework for controlled emergency landing of a quadcopter, experiencing a rotor failure, away from sensitive areas. A complete mathematical model capturing the dynamics of the system is presented that takes the…
In this paper, a robust control solution for a satellite equipped with a robotic manipulator is presented. First, the dynamic model of the system is derived based on quaternions to describe the evolution of the attitude of the base…
We present a model-predictive control (MPC) framework for legged robots that avoids the singularities associated with common three-parameter attitude representations like Euler angles during large-angle rotations. Our method parameterizes…
This paper investigates the robust nonlinear close formation control problem. It aims to achieve precise position control at dynamic flight operation for a follower aircraft under the aerodynamic impact due to the trailing vortices…
This paper describes the development of a magnetic attitude control subsystem for a 2U cubesat. Due to the presence of gravity gradient torques, the satellite dynamics are open-loop unstable near the desired pointing configuration.…
This paper investigates adaptive zero reaction motion control for free-floating space manipulators with uncertain kinematics and dynamics. The challenge in deriving the adaptive reaction null-space (RNS) based control scheme is that it is…
In this paper, a sampling-based Stochastic Model Predictive Control algorithm is proposed for discrete-time linear systems subject to both parametric uncertainties and additive disturbances. One of the main drivers for the development of…
Learning-based optimal control algorithms control unknown systems using past trajectory data and a learned model of the system dynamics. These controllers use either a linear approximation of the learned dynamics, trading performance for…
We study the minimum time control problem of the launchers. The optimal trajectories of the problem may contain singular arcs, and thus chattering arcs. The motion of the launcher is described by its attitude kinematics and dynamics and…
Approaching a tumbling target safely is a critical challenge in space debris removal missions utilizing robotic manipulators onboard servicing satellites. In this work, we propose a trajectory planning method based on nonlinear optimization…
We use Reinforcement Meta-Learning to optimize an adaptive integrated guidance, navigation, and control system suitable for exoatmospheric interception of a maneuvering target. The system maps observations consisting of strapdown seeker…
The proposed control method uses an adaptive feedforward-based controller to establish a passive input-output mapping for the CDPR that is used alongside a linear time-invariant strictly positive real feedback controller to guarantee robust…
Heading and position control system of ships has remained a challenging control problem. It is a nonlinear multiple input multiple output system. Moreover, the dynamics of the system vary with operating as well as environmental conditions.…