Related papers: A flatness-based predictive controller for six-deg…
This paper introduces a hybrid dynamical system methodology for managing impulsive control in spacecraft rendezvous and proximity operations under the Hill-Clohessy-Wiltshire model. We address the control design problem by isolating the…
Future Mars missions will require advanced guidance, navigation, and control algorithms for the powered descent phase to target specific surface locations and achieve pinpoint accuracy (landing error ellipse $<$ 5 m radius). The latter…
Cooperative adaptive cruise control presents an opportunity to improve road transportation through increase in road capacity and reduction in energy use and accidents. Clever design of control algorithms and communication systems is…
An efficient and accurate computational approach is proposed for optimal attitude control of a rigid body. The problem is formulated directly as a discrete time optimization problem using a Lie group variational integrator. Discrete…
A new kind of six degree-of-freedom teaching manipulator without actuators is designed, for recording and conveniently setting a trajectory of an industrial robot. The device requires good gravity balance and operating force performance to…
This paper presents a computationally efficient model predictive control formulation that uses an integral Chebyshev collocation method to enable rapid operations of autonomous agents. By posing the finite-horizon optimal control problem…
This paper presents a continuous optimization approach to DCOC and its application to spacecraft high-precision attitude control. The approach computes a control input sequence that maximizes the time-before-exit by solving a nonlinear…
Conventional Feedback-Linearization-based controller, applied to the tilt-rotor (eight inputs), results in the extensive changes in the tilting angles, which are not expected in practice. To solve this problem, we introduce the novel…
Achieving precise and efficient trajectory tracking in robotic arms remains a key challenge due to system uncertainties and chattering effects in conventional sliding mode control (SMC). This paper presents a chattering-free fast terminal…
The next generation of space systems will have to achieve more and more complex missions. In order to master the development cost and duration of such systems, an alternative to a manual design is to automatically synthesize the main…
In this paper, the repeat-groundtrack orbit maintenance problem is addressed for spacecraft driven by electric propulsion. An adaptive solution is proposed, which combines an hysteresis controller and a recursive least squares filter. The…
This paper proposes a novel quaternion-based approach for tracking the translation (position and linear velocity) and rotation (attitude and angular velocity) trajectories of underactuated Unmanned Aerial Vehicles (UAVs). Quadrotor UAVs are…
This paper addresses the motion control problem for underactuated mechanical systems with full attitude control and one translational force input to manage the six degrees of freedom involved in the three-dimensional Euclidean space. These…
A two-phase model predictive controller (MPC) is proposed for underactuated surface vessel operation in confined environments. For general driving maneuvers (phase one) the ship's geometry is not considered explicitly while in more…
We study control systems invariant under a Lie group with application to the problem of nonlinear trajectory planning. A theory of symmetry reduction of exterior differential systems is employed to demonstrate how symmetry reduction and…
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…
This paper proposes a fault-tolerant control strategy based on a tilt-rotor quadcopter prototype, utilizing nonlinear model predictive control to maintain both attitude and position stability in the event of rotor failure. The control…
Optimal control problems with discrete-valued inputs are inherently challenging due to their mixed-integer nature, rendering them generally intractable for real-time, safety-critical aerospace applications. Lossless convexification offers a…
We present an optimization-based approach for fuel-efficient spacecraft rendezvous to the Gateway, a space station that will be deployed on a near rectilinear halo orbit (NRHO) around the Moon. The approach: i) ensures passive safety and…
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…