Related papers: Optimal Impulsive Control of Cislunar Relative Mot…
In this work, we investigate trajectories that require thrust to maintain periodic structure in the circular restricted three-body problem (CR3BP). We produce bounds in position and velocity space for the energy-constrained reachable set of…
This paper establishes relationships between continuous-time, receding horizon, nonlinear model predictive control (MPC) and control Lyapunov and control barrier functions (CLF/CBF). We show that, if the cost function "behaves well" for…
Determining the reachable set for a given nonlinear control system is crucial for system control and planning. However, computing such a set is impossible if the system's dynamics are not fully known. This paper is motivated by a scenario…
In this paper we attack one of the most fundamental signal processing/informaton theory problems, widely known as the MIMO ML-detection. We introduce a powerful Random Duality Theory (RDT) mechanism that we refer to as the Controlled…
This work extends reachability analyses based on ellipsoidal techniques to Linear Time Invariant (LTI) systems subject to an integral quadratic constraint (IQC) between the past state and disturbance signals , interpreted as an input-output…
This work addresses the ecological-adaptive cruise control problem for connected electric vehicles by a computationally efficient robust control strategy. The problem is formulated in the space-domain with a realistic description of the…
Equipping a spacecraft with multiple solar-powered electric engines (of the same or different types) compounds the task of optimal trajectory design due to presence of both real-valued inputs (power input to each engine in addition to the…
A classic reachability problem for safety of dynamic systems is to compute the set of initial states from which the state trajectory is guaranteed to stay inside a given constraint set over a given time horizon. In this paper, we leverage…
Optimal control problems are formulated and efficient computational procedures are proposed for attitude dynamics of a rigid body with symmetry. The rigid body is assumed to act under a gravitational potential and under a structured control…
This paper introduces a novel methodology that leverages the Hamilton-Jacobi solution to enhance non-linear model predictive control (MPC) in scenarios affected by navigational uncertainty. Using Hamilton-Jacobi-Theoretic approach, a…
This paper presents a time-optimal Model Predictive Control (MPC) scheme for linear discrete-time systems subject to multiplicative uncertainties represented by interval matrices. To render the uncertainty propagation computationally…
This paper deals with some reachability issues for piecewise linear switched systems with time-dependent coefficients and multiplicative noise. Namely, it aims at characterizing data that are almost reachable at some fixed time T > 0…
The problem of minimizing the transfer time between periodic orbits in the Earth-Moon elliptic restricted three-body problem using a multi-mode propulsion system is considered. By employing the true anomaly on the primary orbit as the…
Determining the reachable set for a given nonlinear system is critically important for autonomous trajectory planning for reach-avoid applications and safety critical scenarios. Providing the reachable set is generally impossible when the…
This study proposes a new automated strategy for designing and optimizing three-dimensional interplanetary low-thrust (LT) trajectories. The method formulates the design as a hybrid optimal control problem and solves it using a two-step…
Consider the Restricted Planar Circular Three Body Problem (RPC3BP), which models the motion of a massless particle (Asteroid) under the gravitational influence of two massive bodies (the primaries) moving on circular orbits. By considering…
We present a novel method of optimal robust control through quadratic programs that offers tracking stability while subject to input and state-based constraints as well as safety-critical constraints for nonlinear dynamical robotic systems…
Designing spacecraft trajectories remains challenging in the presence of stochastic effects such as maneuver execution errors and observation uncertainties. Although covariance control and belief-space planning provide useful tools for…
A vision system attached to a manipulator excels at tracing a moving target object while effectively handling obstacles, overcoming limitations arising from the camera's confined field of view and occluded line of sight. Meanwhile, the…
We consider optimal control problems involving two constraint sets: one comprised of linear ordinary differential equations with the initial and terminal states specified and the other defined by the control variables constrained by simple…