Related papers: Fault-tolerant Model Predictive Control for Spacec…
When intelligent spacecraft or space robots perform tasks in a complex environment, the controllable variables are usually not directly available and have to be inferred from high-dimensional observable variables, such as outputs of neural…
This paper presents a new control, namely additive-state-decomposition dynamic inversion stabilized control, that is used to stabilize a class of multi-input multi-output (MIMO) systems subject to nonparametric time-varying uncertainties…
We propose a novel adaptive reinforcement learning control approach for fault tolerant control of degrading systems that is not preceded by a fault detection and diagnosis step. Therefore, \textit{a priori} knowledge of faults that may…
This paper proposes a fault-tolerant control strategy based on a tilt-rotor quadcopter prototype, utilizing nonlinear model predictive control to maintain both attitude and position stability in the event of rotor failure. The control…
Model Predictive Control (MPC) has established itself as the primary methodology for constrained control, enabling autonomy across diverse applications. While model fidelity is crucial in MPC, solving the corresponding optimization problem…
This study presents autonomous guidance and control strategies for the purpose of reconfiguring close-range multi-satellite formations. The formation under consideration includes $N$ under-actuated deputy satellites and an uncontrolled…
Increase in the number of space exploration missions has led to the accumulation of space debris, posing risk of collision with the operational satellites. Addressing this challenge is crucial for the sustainability of space operations. To…
This article aims to derive a practical tracking control algorithm for flexible air-breathing hypersonic vehicles (FAHVs) with lumped disturbances, unmeasurable states and actuator failures. Based on the framework of the backstepping…
The coupling disturbance between the manipulator and the unmanned aerial vehicle (UAV) deteriorates the control performance of system. To get high performance of the aerial manipulator, a robust fractional order fast terminal sliding mode…
Agile earth observation satellites employ multiple actuators to enable flexible and responsive imaging capabilities. While significant advancements in actuator technology have enhanced satellites' torque and momentum, relatively little…
In this paper we investigate the design of an active fault tolerant control system applicable to autonomous flight. The system comprises a nonlinear model predictive based controller integrated with an unscented Kalman filter for fault…
Many unmanned aerial vehicles (UAVs) can remain aerodynamically flyable after sustaining structural or control surface damage, yet insufficient robustness in conventional autopilots often leads to mission failure. This paper proposes a…
Collision avoidance is a problem largely studied in robotics, particularly in unmanned aerial vehicle (UAV) applications. Among the main challenges in this area are hardware limitations, the need for rapid response, and the uncertainty…
Propeller failure is a major cause of multirotor Unmanned Aerial Vehicles (UAVs) crashes. While conventional multirotor systems struggle to address this issue due to underactuation, over-actuated platforms can continue flying with…
A robust Model Predictive Control (MPC) approach for controlling front steering of an autonomous vehicle is presented in this paper. We present various approaches to increase the robustness of model predictive control by using weight…
Modular Aerial Robot Systems (MARS) consist of multiple drone modules that are physically bound together to form a single structure for flight. Exploiting structural redundancy, MARS can be reconfigured into different formations to mitigate…
In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work…
Fully re-orientable small spacecraft are now supported by commercial technologies, allowing them to point their instruments in any direction and capture images, with short notice. When combined with improved onboard processing, and…
The Safe Trusted Autonomy for Responsible Space (STARS) program aims to advance autonomy technologies for space by leveraging machine learning technologies while mitigating barriers to trust, such as uncertainty, opaqueness, brittleness,…
This paper presents a novel methodology to enforce motion safety guarantees even in the event of a sudden loss of control capabilities by any agent within a multi-agent system. This passive safety methodology permits the replacement of…