Related papers: Adaptive Controller For Simultaneous Spacecraft At…

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…

Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…

This paper proposes an adaptive modular geometric control framework for robotic manipulators. The proposed methodology decomposes the overall manipulator dynamics into individual modules, enabling the design of local geometric control laws…

We present a novel, high-performance attitude control law for multicopters, with a view to recovery from large disturbances. The controller is compared to three well-established alternatives from the literature. All controllers considered…

This paper focuses on the attitude pointing control problem under pointing-forbidden constraints and performance constraints. The spacecraft is expected to align its sensor's boresight to a desired direction, while the terminal control…

The inherent approximation ability of neural networks plays an essential role in adaptive neural control, where the prerequisite for existence of the compact set is crucial in the control designs. Instead of using practical system state, in…

This paper studies the trajectory tracking and motion control problems for autonomous vehicles (AVs). A parameter adaptive control framework for AVs is proposed to enhance tracking accuracy and yaw stability. While establishing linear…

This paper presents a novel Lyapunov-based Adaptive Transformer (LyAT) controller for stochastic nonlinear systems. While transformers have shown promise in various control applications due to sequential modeling through self-attention…

Recently, deep space exploration, especially focusing on halo orbits, the periodic orbits of the Moon, has been widely studied. The spacecraft in halo orbits performs periodic orbital motion, which affects the attitude motion by periodic…

The general objective of this Ph.D. thesis is to study the dynamics and control of rigid and flexible spacecraft supported by a high-fidelity numerical simulation environment. The demand for greater attitude pointing precision, attitude…

Robots and automated systems are increasingly being introduced to unknown and dynamic environments where they are required to handle disturbances, unmodeled dynamics, and parametric uncertainties. Robust and adaptive control strategies are…

We demonstrate that time-delayed feedback control can be improved by adaptively tuning the feedback gain. This adaptive controller is applied to the stabilization of an unstable fixed point and an unstable periodic orbit embedded in a…

Slip is a very common phenomena present in wheeled mobile robotic systems. It has undesirable consequences such as wasting energy and impeding system stability. To tackle the challenge of mobile robot trajectory tracking under slippery…

Faults are endemic to all systems. Adaptive fault-tolerant control maintains degraded performance when faults occur as opposed to unsafe conditions or catastrophic events. In systems with abrupt faults and strict time constraints, it is…

This paper investigates the utilization of differential thrust to help a commercial aircraft with a damaged vertical stabilizer regain its lateral/directional stability. In the event of an aircraft losing its vertical stabilizer, the…

This paper is concerned with the optimal kinematic control of a robot manipulator where the robot end effector position follows a task space trajectory. The joints are actuated with the desired velocity profile to achieve this task. This…

In this paper, an adaptive super-twisting controller is designed for an agile maneuvering quadrotor unmanned aerial vehicle to achieve accurate trajectory tracking in the presence of external disturbances. A cascaded control architecture is…

The precise control of gas generator pressure is important to obtain variable thrust in ducted rockets. A delay resistant closed loop reference model adaptive control is proposed in this paper to address this problem. The proposed…

Real-world control applications in complex and uncertain environments require adaptability to handle model uncertainties and robustness against disturbances. This paper presents an online, output-feedback, critic-only, model-based…

This paper studies the problem of real-time fault recovery control for nonlinear control-affine systems subject to actuator loss of effectiveness faults and external disturbances. We derive a two-stage framework that combines causal…