Related papers: Log-linear Dynamic Inversion for Thrusting Spacecr…
Most of the rigid-body systems which evolve on nonlinear Lie groups where Euclidean control designs lose geometric meaning. In this paper, we introduce a log-linear backstepping control law on SE2(3) that preserves full…
This paper presents an approach that employs log-linearization in Lie group theory and the Newton-Euler equations to derive exact linear error dynamics for a multi-rotor model, and applies this model with a novel log-linear dynamic…
In this paper, we use the derivative of the exponential map to derive the exact evolution of the logarithm of the tracking error for mixed-invariant systems, a class of systems capable of describing rigid body tracking problems in Lie…
Errors dynamics captures the evolution of the state errors between two distinct trajectories, that are governed by the same system rule but initiated or perturbed differently. In particular, state observer error dynamics analysis in matrix…
Trajectory tracking for the kinematic unicycle has been heavily studied for several decades. The unicycle admits a natural $\SE(2)$ symmetry, a key structure exploited in many of the most successful nonlinear controllers in the literature.…
Mechanical control systems such as aerial, marine, space, and terrestrial robots often naturally admit a state-space that has the structure of a Lie group. The kinetic energy of such systems is commonly invariant to the induced action by…
Through assembling the navigation parameters as matrix Lie group state, the corresponding inertial navigation system (INS) kinematic model possesses a group-affine property. The Lie logarithm of the navigation state estimation error…
In this paper, we extend the popular integral control technique to systems evolving on Lie groups. More explicitly, we provide an alternative definition of "integral action" for proportional(-derivative)-controlled systems whose…
This paper proposes a nonlinear control architecture for flexible aircraft simultaneous trajectory tracking and load alleviation. By exploiting the control redundancy, the gust and maneuver loads are alleviated without degrading the…
We present a robotics-oriented, coordinate-free formulation of inverse flight dynamics for fixed-wing aircraft on SO(3). Translational force balance is written in the world frame and rotational dynamics in the body frame; aerodynamic…
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…
This paper provides new results for a tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid complexities and…
In real-world robotics applications, accurate models of robot dynamics are critical for safe and stable control in rapidly changing operational conditions. This motivates the use of machine learning techniques to approximate robot dynamics…
This article presents a unified synchronization framework with application to precision formation flying spacecraft. Central to the proposed innovation, in applying synchronization to both translational and rotational dynamics in the…
In this paper, we consider the problem of input-output linearization of the longitudinal flight dynamics. In longitudinal flight dynamics, inputs are typically thrust and elevator deflection whereas the outputs are the velocity and the…
We propose a sliding surface for systems on the Lie group $SO(3)\times \mathbb{R}^3$ . The sliding surface is shown to be a Lie subgroup. The reduced-order dynamics along the sliding subgroup have an almost globally asymptotically stable…
This paper provides nonlinear tracking control systems for a quadrotor unmanned aerial vehicle (UAV) that are robust to bounded uncertainties. A mathematical model of a quadrotor UAV is defined on the special Euclidean group, and nonlinear…
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…
The prevention of the loss of control in agile aircraft during the extreme maneuvers is of concern due to the nonlinear aerodynamics and flight dynamics nature of the aircraft in this study. Within this context, the primary objective is to…
Accurate models of robot dynamics are critical for safe and stable control and generalization to novel operational conditions. Hand-designed models, however, may be insufficiently accurate, even after careful parameter tuning. This…