Related papers: Nonlinear MPC with PWM applied on a small satellit…
The general objective of this Ph.D. thesis is to study the dynamics and control of rigid and flexible spacecraft supported by a high-fidelity numerical simulation environment. The demand for greater attitude pointing precision, attitude…
We study the optimal control of an arbitrarily large constellation of small satellites operating in low Earth orbit. Simulating the lack of on-board propulsion, we limit our actuation to the use of differential drag maneuvers to make…
CubeSats and small satellites are emerging as low-cost tools to perform astronomy, exoplanet searches and earth observation. These satellites can be dedicated to pointing at targets for weeks or months at a time. This is typically not…
This paper studies the optimal control problem for discrete-time nonlinear systems and an approximate dynamic programming-based Model Predictive Control (MPC) scheme is proposed for minimizing a quadratic performance measure. In the…
This paper proposes a novel robust adaptive model predictive controller for on-orbit dislodging. We study orbit dislodging where a servicing spacecraft uses a robotic arm to free a jammed and unactuated solar panel mounted on a hybrid hinge…
We demonstrate how the rotor position of a PWM-controlled PMSM can be recovered from the measured currents, by suitably using the excitation provided by the PWM itself. This provides the benefits of signal injection, in particular the…
The use of electric low-thrust propulsion systems for orbit maneuvers is becoming a popular choice among satellite manufacturers due to their inherent merits over their chemical counterparts. Many designers choose to incorporate multiple of…
In this paper, we present an approach for controlling a team of agile fixed-wing aerial vehicles in close proximity to one another. Our approach relies on receding-horizon nonlinear model predictive control (NMPC) to plan maneuvers across…
Magnetically actuated capsule robots promise minimally invasive diagnosis and therapy in the gastrointestinal (GI) tract, but existing systems largely neglect control of capsule pitch, a degree of freedom critical for contact-rich…
Time delays in communication networks are one of the main concerns in deploying robots with computation boards on the edge. This article proposes a multi-stage Nonlinear Model Predictive Control (NMPC) that is capable of handling varying…
Robust Model Predictive Control (MPC) for nonlinear systems is a problem that poses significant challenges as highlighted by the diversity of approaches proposed in the last decades. Often compromises with respect to computational load,…
In this paper, we describe the development process of autonomous navigation capabilities of a small cruise boat operating in a canal environment and present the results of a field experiment conducted in the Pohang Canal, South Korea.…
Manufacturing processes are often perturbed by drifts in the environment and wear in the system, requiring control re-tuning even in the presence of repetitive operations. This paper presents an iterative learning framework for automatic…
Electromagnetic navigation systems (eMNS) are increasingly used in minimally invasive procedures such as endovascular interventions and targeted drug delivery due to their ability to generate fast and precise magnetic fields. In this paper,…
This paper deals with the problem of angle-of-attack modulation with the aim of enhancing transient performance of entry guidance during bank reversals, while compensating adverse effects of fast time-varying transient disturbances. An…
Permanent magnet synchronous motors (PMSM) are widely used due to their numerous benefits. It is critical to get rotor position and speed information in order to operate the motor accurately. Sensorless control techniques have emerged as a…
Electromagnetic Formation Flight is a technology that uses electromagnetic forces and torques to control multiple satellites without conventional fuel-based propulsion. In this paper, the controllability of the system is discussed based on…
Reverse parking maneuvers of a vehicle with trailer system is a challenging task to complete for human drivers due to the unstable nature of the system and unintuitive controls required to orientate the trailer properly. This paper hence…
Swarm aerial robots are required to maintain close proximity to successfully traverse narrow areas in cluttered environments. However, this movement is affected by the downwash effect generated from other quadrotors in the swarm. This…
The guidance of a torpedo represents a hard task because of the smooth nonlinear aspect of this system and because of the extreme external disturbances. The torpedo guidance reposes on the speed and the position control. In fact, the…