Related papers: Optimal Impulsive Control of Cislunar Relative Mot…
Spacecraft operations are influenced by uncertainties such as dynamics modeling, navigation, and maneuver execution errors. Although mission design has traditionally incorporated heuristic safety margins to mitigate the effect of…
In this paper, novel approaches are developed to explore the dynamics of motion in periodic orbits near libration points in cislunar space using the Differential Algebra (DA) framework. The Circular Restricted Three-Body Problem (CR3BP)…
In this paper, the L1-minimization for the translational motion of a spacecraft in a circular restricted three-body problem (CRTBP) is considered. Necessary con- ditions are derived by using the Pontryagin Maximum Principle, revealing the…
With the increasing interest in proximity and docking operations, there is a growing interest in spacecraft relative motion control. This paper extends a previously proposed constrained relative motion approach based on chained positively…
In this work, we propose a trajectory generation method for robotic systems with contact force constraint based on optimal control and reachability analysis. Normally, the dynamics and constraints of the contact-constrained robot are…
Optimal control problems are formulated and efficient computational procedures are proposed for combined orbital and rotational maneuvers of a rigid body in three dimensions. The rigid body is assumed to act under the influence of forces…
Model predictive control allows solving complex control tasks with control and state constraints. However, an optimal control problem must be solved in real-time to predict the future system behavior, which is hardly possible on embedded…
Trajectory design in cislunar space under a High-Fidelity Ephemeris Model (HFEM) is pursued through a nonlinear optimization perspective anchored on the transition of solutions from lower fidelity models, namely the Circular Restricted…
A sensitivity-based approach for computing over-approximations of reachable sets, in the presence of constant parameter uncertainties and a single initial state, is used to analyze a three-link planar robot modeling a Powered Lower Limb…
A minimum-time reorientation of an axisymmetric rigid spacecraft controlled by three torques is studied. The orientation of the body is modeled such that the attitude kinematics are representative of a spin-stabilized spacecraft. The…
In this paper, we present a geometric framework for the reachability analysis of attitude control systems. We model the attitude dynamics on the product manifold $\mathrm{SO}(3) \times \mathbb{R}^3$ and introduce a novel parametrized family…
The design of transfers to periodic orbits in the Earth-Moon system has regained prominence with NASA's Artemis and CNSA's Chang'e programs. This work addresses the problem of linking ballistic capture trajectories - exploiting multi-body…
In this work, we develop a numerically tractable trajectory optimization problem for rest-to-rest attitude transfers with CMG-driven spacecraft. First, we adapt a specialized dynamical model which avoids many of the numerical challenges…
The circular restricted three-body problem (CR3BP) with solar radiation pressure (SRP) has often been analyzed with assumptions made on a spacecraft's attitude, such that the problem remains Hamiltonian. These assumptions are…
We present an approach to approximate reachable sets for linear systems with bounded L-infinity controls in finite time. Our first approach investigates the boundaries of these sets and reveals an exact characterization for single-input,…
We consider the planar circular restricted three-body problem (PCRTBP), as a model for the motion of a spacecraft relative to the Earth-Moon system. We focus on the Lagrange equilibrium points $L_1$ and $L_2$. There are families of Lyapunov…
This paper deals with the impulsive formation control of spacecraft in the presence of constraints on the position vector and time. Determining a set of path constraints can increase the safety and reliability in an impulsive relative…
This paper employs an alternate dynamical model of the circular restricted three body problem to quantify uncertainties associated with spacecraft thrusting maneuvers. A non-product quadrature scheme known as Conjugate Unscented Transform…
The paper presents a new, robust control algorithm for position trajectory tracking in a 3D space, dedicated to underactuated airships. In order to take into account real characteristics of such vehicles, and to reflect practically…
This paper presents a method to determine the reachable set (RS) of spacecraft after a single velocity impulse with an arbitrary direction, which is appropriate for the RS in both the state and observation spaces under arbitrary dynamics,…