Related papers: Long-Duration Station-Keeping Strategy for Cisluna…
Constrained attitude maneuvers have numerous applications in robotics and aerospace. In our previous work, a general framework to this problem was proposed with resolution completeness guarantee. However, a smooth reference trajectory and a…
This paper proposes a nonlinear guidance algorithm for fuel-optimal impulsive trajectories for rendezvous operations close to a reference orbit. The approach involves overparameterized monomial coordinates and a high-order approximation of…
Transverse linearization-based approaches have become among the most prominent methods for orbitally stabilizing feedback design in regards to (periodic) motions of underactuated mechanical systems. Yet, in an $n$-dimensional state-space,…
Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…
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…
We show that, near periodic orbits, a class of hybrid models can be reduced to or approximated by smooth continuous-time dynamical systems. Specifically, near an exponentially stable periodic orbit undergoing isolated transitions in a…
The long-term stability of the evolution of two-planet systems is considered by using the general three body problem (GTBP). Our study is focused on the stability of systems with adjacent orbits when at least one of them is highly…
This paper presents a novel control protocol for distance and orientation formation control of rigid bodies, whose sensing graph is a static and undirected tree, in the special Euclidean group SE(3). The proposed control laws are…
This paper proposes an integrated framework for coordinating multiple unmanned aerial vehicles (UAVs) in a distributed manner to persistently enclose and track a moving target without relying on external localization systems. The proposed…
Over the past few decades, continuous quaternion-based attitude control has been proven highly effective for driving rotational systems that can be modeled as rigid bodies, such as satellites and drones. However, methods rooted in this…
This paper studies the Lagrange stabilization of a class of nonlinear systems whose linear part has a singular system matrix and which have multiple periodic (in state) nonlinearities. Both state and output feedback Lagrange stabilization…
The reachable set of controlled dynamical systems consist of the set of all possible reachable states from an initial condition, over a certain period of time under various control and operation constraints and exogenous disturbances. For…
The main focus of the work presented in this thesis is to develop an optimal control based formation flying control strategy for high precision formation flying of small satellites that have restricted computation and storage capacity.…
Nonlinear control-affine systems with time-varying vector fields are considered in the paper. We propose a unified control design scheme with oscillating inputs for solving the trajectory tracking and stabilization problems. This…
The objective of this work is to demonstrate the utility of Lyapunov functions in control synthesis for the purpose of maintaining and stabilizing a spacecraft in a circular orbit around the L4 point in the circular restricted three body…
In this paper, we propose a novel and distributed formation control method for autonomous robots to follow the desired formation while tracking a moving target in dynamic environments. In our approach, the desired formations, which include…
Many of exoplanetary systems consist of more than one planet and the study of planetary orbits with respect to their long-term stability is very interesting. Furthermore, many exoplanets seem to be locked in a mean-motion resonance (MMR),…
We study convergence and stability properties of control-affine systems. Our considerations are motivated by the problem of stabilizing a control-affine system by means of output feedback for states in which the output function attains an…
This work presents a robust Model Predictive Controller (MPC) to solve the problem of spacecraft rendezvous in the context of the restricted three-body problem (R3BP) as will be required to dock with space stations in cislunar space. The…
This paper focuses on coordinating a robot swarm orbiting a convex path without collisions among the individuals. The individual robots lack braking capabilities and can only adjust their courses while maintaining their constant but…