Related papers: Autonomous Satellite Rendezvous via Hybrid Feedbac…
In this paper we present a hybrid feedback approach to solve the navigation problem of a point mass in the n-dimensional space containing an arbitrary number of ellipsoidal shape obstacles. The proposed hybrid control algorithm guarantees…
Low earth orbit (LEO) satellites are a key technology to enable connectivity for rural and remote users. Communication satellites in LEO can provide coverage to much larger areas than terrestrial or aerial systems, while offering improved…
This study is aimed at answering the famous question of how the approximation errors at each iteration of Approximate Dynamic Programming (ADP) affect the quality of the final results considering the fact that errors at each iteration…
A framework is introduced for sequentially solving convex stochastic minimization problems, where the objective functions change slowly, in the sense that the distance between successive minimizers is bounded. The minimization problems are…
We provide a solution to the heretofore open problem of stabilization of systems with arbitrarily long delays at the input and output of a nonlinear system using output feedback only. The solution is global, employs the predictor approach…
We introduce a system for real-time sperm whale rendezvous at sea using an autonomous uncrewed aerial vehicle. Our system employs model-based reinforcement learning that combines in situ sensor data with an empirical whale dive model to…
This paper studies the disturbance decoupling problem by dynamic output feedback with required closed-loop stability, in the general case of nonstrictly-proper systems. We will show that the extension of the geometric solution based on the…
Accelerator performance often deteriorates with time during a long period of operation due to secular changes in the machine components or the surrounding environment. In many cases some tuning knobs are effective in compensating the…
Low earth orbit (LEO) satellite constellation-enabled communication networks are expected to be an important part of many Internet of Things (IoT) deployments due to their unique advantage of providing seamless global coverage. In this…
DPO is an effective preference optimization algorithm. However, the DPO-tuned models tend to overfit on the dispreferred samples, manifested as overly long generations lacking diversity. While recent regularization approaches have…
Rotation averaging is a key subproblem in applications of computer vision and robotics. Many methods for solving this problem exist, and there are also several theoretical results analyzing difficulty and optimality. However, one aspect…
Examining the spin-orbit coupling effects for highly elliptical orbits is relevant to the mission design and operation of cislunar space assets, such as the Lunar Gateway. In high-eccentricity orbits, the gravity-gradient moment is here…
We consider the feedback design for stabilizing a rigid body system by making and breaking multiple contacts with the environment without prespecifying the timing or the number of occurrence of the contacts. We model such a system as a…
This paper explores the design of hybrid feedback for a class of affine nonlinear systems with topological constraints that prevent global asymptotic stability. A new hybrid control strategy is introduced, which differs conceptually from…
This paper presents an optimization framework for Spatial Packaging of Interconnected Systems with Physical Interactions (SPI2) that addresses the geometric challenges of three-dimensional component placement and routing. While SPI2…
Detumbling refers to the act of dampening the angular velocity of the satellite. This operation is of paramount importance since it is virtually impossible to nominally perform any other operation without some degree of attitude control.…
In this paper, a novel adaptive smooth disturbance observer-based fast finite-time adaptive backstepping control scheme is presented for the attitude tracking of the 3-DOF helicopter system subject to compound disturbances. First, an…
This paper introduces an innovative guidance and control method for simultaneously capturing and stabilizing a fast-spinning target satellite, such as a spin-stabilized satellite, using a spinning-base servicing satellite equipped with a…
Recoverable robust optimization is a popular multi-stage approach, in which it is possible to adjust a first-stage solution after the uncertain cost scenario is revealed. We consider recoverable robust optimization in combination with…
While techniques have been developed for chance constrained stochastic optimal control using sample disturbance data that provide a probabilistic confidence bound for chance constraint satisfaction, far less is known about how to use sample…