Related papers: Log-linear Dynamic Inversion for Thrusting Spacecr…
In this work, we address the design of tracking controllers that drive a mechanical system's state asymptotically towards a reference trajectory. Motivated by aerospace and robotics applications, we consider fully-actuated systems evolving…
This paper develops the theory of Dirac reduction by symmetry for nonholonomic systems on Lie groups with broken symmetry. The reduction is carried out for the Dirac structures, as well as for the associated Lagrange-Dirac and…
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…
This paper studies formation control of an arbitrary number of spacecraft based on a serial network structure. The leader controls its absolute position and absolute attitude with respect to an inertial frame, and the followers control its…
This work presents a novel algorithm for impulsive optimal control of linear time-varying systems with the inclusion of input magnitude constraints. Impulsive optimal control problems, where the optimal input solution is a sum of delta…
This paper presents a technique to drive the state of a constrained nonlinear system to a specified target state in finite time, when the system suffers a partial loss in control authority. Our technique builds on a recent method to control…
The trajectory tracking problem is a fundamental control task in the study of mechanical systems. A key construction in tracking control is the error or difference between an actual and desired trajectory. This construction also lies at the…
Low-thrust trajectory design and in-flight control remain two of the most challenging topics for new-generation satellite operations. Most of the solutions currently implemented are based on reference trajectories and lead to sub-optimal…
This article establishes the foundation for a new theory of invariant/integral manifolds for non-autonomous dynamical systems. Current rigorous support for dimensional reduction modelling of slow-fast systems is limited by the rare events…
We study the aerodynamic response of a pre-stressed curved aileron. Whilst the fluid flow is standard (high Reynolds air flow undisturbed at infinity), the structure is designed to have a peculiar nonlinear behavior. Specifically, the…
Within the missile guidance and control system the autopilot must overcome an array of variables and uncertainties to maintain tracking trajectory. A large uncertainty explored in this paper is the difference between the assumed flight…
Many complex systems, ranging from migrating cells to animal groups, exhibit stochastic dynamics described by the underdamped Langevin equation. Inferring such an equation of motion from experimental data can provide profound insight into…
In this paper, attitude maneuver control without unwinding phenomenon is investigated for rigid spacecraft. First, a novel switching function is constructed by a hyperbolic sine function. It is shown that the spacecraft system possesses the…
We study a quasi-two-dimensional electrostatic drift kinetic system as a model for near-marginal ion temperature gradient (ITG) driven turbulence. A proof is given of the nonlinear stability of this system under conditions of linear…
Control systems of interest are often invariant under Lie groups of transformations. For such control systems, a geometric framework based on Lie symmetry is formulated, and from this a sufficient condition for dynamic feedback…
Improving robustness to uncertainty and rejection of external disturbances represents a significant challenge in aerial robotics. Nonlinear controllers based on Incremental Nonlinear Dynamic Inversion (INDI), known for their ability in…
Attitude tracking on the unit sphere of dimension $3$ based on sliding mode is considered in this paper. The tangent bundle of Lagrangian dynamics that describes the rotational motion of a rigid body is first shown to be a Lie group, and…
This work intends to analyze the nonlinear stochastic dynamics of drillstrings in horizontal configuration. For this purpose, it considers a beam theory, with effects of rotatory inertia and shear deformation, which is capable of…
The current paper is devoted to the investigation of the influence of nested invariant cone structure on the dynamics, in the context of non-autonomous (time almost periodic)cases. We first prove that the nested invariant cone structure can…
A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…