Related papers: A Robust Periodic Controller for Spacecraft Attitu…
This paper presents a visual-inertial-based control strategy to address the task space control problem of robot manipulators. To this end, an observer-based hybrid controller is employed to control end-effector motion. In addition, a hybrid…
This paper presents a deterministic hybrid observer for the attitude dynamics of a rigid body that guarantees global asymptotical stability. Any smooth attitude observer suffers from the inherent topological restriction that it is…
Atmospheric flight phase of a launch vehicle is utilized to evaluate the performance of an H-infinity controller in the presence of disturbances. Dynamics of the vehicle is linearly modeled using time-varying parameters. An operating point…
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…
This paper presents a novel position control strategy for a single-link flexible manipulator, tailored for applications where precise position must be achieved within strict time constraints. To accomplish this objective, firstly, a nested…
The synthesis problem of static output feedback controllers within the anistropic-norm setup is revisited. A tractable synthesis approach involving iterations over a convex optimization problem is suggested, similarly to existing results…
With the development of the space missions, there are extensive missions in the demand of the prescribed time convergence. However, it is still a difficult work to combine the prescribed time method with the sliding mode control due to the…
We introduce a new hybrid control strategy, which is conceptually different from the commonly used synergistic hybrid approaches, to efficiently deal with the problem of the undesired equilibria that precludes smooth vectors fields on…
Model mismatches prevail in real-world applications. Ensuring safety for systems with uncertain dynamic models is critical. However, existing robust safe controllers may not be realizable when control limits exist. And existing methods use…
This paper considers the optimization landscape of linear dynamic output feedback control with $\mathcal{H}_\infty$ robustness constraints. We consider the feasible set of all the stabilizing full-order dynamical controllers that satisfy an…
Control systems that satisfy temporal logic specifications have become increasingly popular due to their applicability to robotic systems. Existing control methods, however, are computationally demanding, especially when the problem size…
This paper focuses on the issue of how to realize spacecraft attitude control with guaranteed performance while conspicuously reducing the actuator acting frequency simultaneously. The prescribed performance control (PPC) scheme is often…
Design and implementation of an optimal and robust single-loop voltage controller is proposed for single-phase grid forming voltage source inverter (VSI). The objective of the proposed controller is to have good reference tracking and…
A reset controller plays a crucial role in designing hybrid systems. It restricts the initial set and redefines the reset map associated with discrete transitions, in order to guarantee the system to achieve its objective. Reset controller…
This paper presents a computationally efficient robust model predictive control law for discrete linear time invariant systems subject to additive disturbances that may depend on the state and/or input norms. Despite the dependency being…
The stabilization of unstable nonlinear systems and tracking control are challenging engineering problems due to the encompassed nonlinearities in dynamic systems and their scale. In the past decades, numerous observer-based control designs…
This paper studies a rigid body attitude tracking control problem with attitude measurements only, when angular velocity measurements are not available. An angular velocity observer is constructed such that the estimated angular velocity is…
We design a reduced attitude controller for reorienting the spin axis of a gyroscope in a geometric control framework. The proposed controller preserves the inherent gyroscopic stability associated with a spinning axis-symmetric rigid body.…
This paper investigates the attitude control problem of spacecraft, with the objective of achieving precise performance criteria including precise settling time, steady-state error, and overshoot elimination. To tackle this challenge, we…
Constructing good test cases is difficult and time-consuming, especially if the system under test is still under development and its exact behavior is not yet fixed. We propose a new approach to compute test strategies for reactive systems…