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In this paper the planar orbit and attitude dynamics of an uncontrolled spacecraft is studied, taking on-board a deorbiting device. Solar and drag sails with the same shape are considered and separately studied. In both cases, these devices…
We consider the problem of stochastic prediction and control in a time-dependent stochastic environment, such as the ocean, where escape from an almost invariant region occurs due to random fluctuations. We determine high-probability…
The feedback linearization method is further developed for the controller design on general nonlinear systems. Through the Lyapunov stability theory, the intractable nonlinear implicit algebraic control equations are effectively solved, and…
In recent years, Neural Networks (NNs) have been employed to control nonlinear systems due to their potential capability in dealing with situations that might be difficult for conventional nonlinear control schemes. However, to the best of…
This paper develops a geometric framework for virtual constraints on Lie groups, with emphasis on mechanical systems modeled as affine connection systems. Virtual holonomic and virtual nonholonomic constraints, including linear and affine…
Nonlinear dynamics of surface gravity waves trapped by an opposing jet current is studied analytically and numerically. For wave fields narrowband in frequency but not necessarily with narrow angular distributions the developed asymptotic…
This paper presents a method for incorporating control analysis into design optimization for highly-maneuverable aircraft. By studying reachable sets for aircraft dynamics, we ensure that the optimizer will take the aircraft's controlled…
We calculate the subleading corrections to the thrust rate using Soft-Collinear Effective Theory to factorize the rate and match onto jet and soft operators that describe the degrees of freedom of the relevant scales. We work in the…
The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…
In this paper, we investigate the attitude tracking problem of uncertain flexible spacecraft systems subject to external disturbances. In sharp contrast to existing results, the dynamics of flexible spacecraft systems and external…
In this paper, we present an extensive study of linearly forced isotropic turbulence. By using an analytical method, we identified two parametric choices that are new to our knowledge. We proved that the underlying nonlinear dynamical…
In this study, a distinct reconfigurable fault-tolerant flight control strategy is addressed for mitigating one of the persistent safety-critical issue, i.e. loss of control triggered by actuator faults. The attainable acceleration set…
Spacecraft relative motion planning is concerned with the design and execution of maneuvers relative to a nominal target. These types of maneuvers are frequently utilized in missions such as rendezvous and docking, satellite inspection and…
An efficient and accurate computational approach is proposed for optimal attitude control of a rigid body. The problem is formulated directly as a discrete time optimization problem using a Lie group variational integrator. Discrete…
Autonomous landing on sloped terrain poses significant challenges for small, lightweight spacecraft, such as rotorcraft and landers. These vehicles have limited processing capability and payload capacity, which makes advanced deep learning…
Control schemes for dynamical systems typically involve stabilizing unstable periodic orbits. In this paper we introduce a new paradigm of control that involves `trapping' the dynamics arbitrarily close to any desired trajectory. This is…
Trace Dynamics is a classical dynamical theory of noncommuting matrices in which cyclic permutation inside a trace is used to define the derivative with respect to an operator. We use the methods of Trace Dynamics to construct a…
We propose a novel framework for learning stabilizable nonlinear dynamical systems for continuous control tasks in robotics. The key idea is to develop a new control-theoretic regularizer for dynamics fitting rooted in the notion of…
Nonlinear control allocation is an important part of modern nonlinear dynamic inversion based flight control systems which require highly accurate model of aircraft aerodynamics. Generally, an accurately implemented onboard model determines…
We introduce a class of dynamical systems having an invariant measure, the modifications of well known systems on Lie groups: LR and L+R systems. As an example, we study modified Veselova nonholonomic rigid body problem, considered as a…