Related papers: Passivity-Based Robust Shape Control of a Cable-Dr…
Airships offer unique operational advantages due to their ability to generate lift via buoyancy, enabling low-speed flight and stationary hovering. These capabilities make them ideal for missions requiring endurance and precision…
High risk of a collision between rotor blades and the obstacles in a complex environment imposes restrictions on the aerial manipulators. To solve this issue, a novel system cable-Suspended Aerial Manipulator (SAM) is presented in this…
The electric solar wind sail (E-sail) is a way to propel a spacecraft by using the natural solar wind as a thrust source. The problem of secular spinrate change was identified earlier which is due to the orbital Coriolis effect and tends to…
Unmanned aerial vehicles (UAVs) are reaching offshore. In this work, we formulate the novel problem of a marine locomotive quadrotor UAV, which manipulates the surge velocity of a floating buoy by means of a cable. The proposed robotic…
In this report, we apply an input-output transformation passivation method, described in our previous works, to an Adaptive Cruise Control system. We analyze the system's performance under a co-simulation framework that makes use of an…
This paper presents a passive control method for multiple degrees of freedom in a soft pneumatic robot through the combination of flow resistor tubes with series inflatable actuators. We designed and developed these 3D printed resistors…
This paper describes a robust linear time-invariant output-feedback control strategy to reduce turbulent fluctuations, and therefore skin-friction drag, in wall-bounded turbulent fluid flows, that nonetheless gives performance guarantees in…
This work proposes a novel control and estimation approach for aerial manipulation of a cable-suspended load using Unmanned Aerial Vehicles (UAVs). Common approaches in the state of the art have practical limitations, relying on direct load…
This paper discusses the systematic design of an adaptive feedback linearizing neurocontroller for a high-order model of the synchronous machine/infinite bus power system. The power system is first modelled as an input-output nonlinear…
The paper tailors the so-called wave-based control popular in the field of flexible mechanical structures to the field of distributed control of vehicular platoons. The proposed solution augments the symmetric bidirectional control…
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…
Passivity-based control ensures system stability by leveraging dissipative properties and is widely applied in electrical and mechanical systems. Port-Hamiltonian systems (PHS), in particular, are well-suited for interconnection and damping…
This paper addresses the limitations of current satellite payload architectures, which are predominantly hardware-driven and lack the flexibility to adapt to increasing data demands and uneven traffic. To overcome these challenges, we…
Adaptive structures are equipped with sensors and actuators to actively counteract external loads such as wind. This can significantly reduce resource consumption and emissions during the life cycle compared to conventional structures. A…
This paper presents a predictive controller for handling plug-and-play (P&P) charging requests of flexible loads in a distribution system. We define two types of flexible loads: (i) deferrable loads that have a fixed power profile but can…
In this work, we present a model-based optimal boundary control design for an aerial robotic system composed of a quadrotor carrying a flexible cable. The whole system is modeled by partial differential equations (PDEs) combined with…
The growing number of noncooperative flying objects has prompted interest in sample-return and space debris removal missions. Current solutions are both costly and largely dependent on specific object identification and capture methods. In…
This paper presents a method for dynamic adjustment of cable preloads based on the actuation redundancy of \acp{CDPR}, which allows increasing or decreasing the platform stiffness depending on task requirements. This is achieved by…
Solar-powered electric propulsion systems can operate in multiple modes and their operation is coupled to the power generated by solar arrays. However, the power produced by the solar arrays is a function of the solar array size and…
This paper deals with the use of input-shaping filters in conjunction with a feed-forward control of Cable-Driven Parallel Robots (CDPRs), while integrating cable tension calculation to satisfy positive cable tensions along the prescribed…