Related papers: Leader-Follower Formation Control Using Differenti…
This paper investigates the robust nonlinear close formation control problem. It aims to achieve precise position control at dynamic flight operation for a follower aircraft under the aerodynamic impact due to the trailing vortices…
In this work, we introduce a novel gradient descent-based approach for optimizing control systems, leveraging a new representation of stable closed-loop dynamics as a function of two matrices i.e. the step size or direction matrix and value…
This paper presents a new Lyapunov-based nonlinear model predictive controller (LNMPC) for the attitude control problem of unmanned aerial vehicles (UAVs), which is essential for their functioning operation. The controller is designed based…
This paper investigated the distributed leader follower formation control problem for multiple differentially driven mobile robots. A distributed estimator is first introduced and it only requires the state information from each follower…
This paper introduces a hybrid dynamical system methodology for managing impulsive control in spacecraft rendezvous and proximity operations under the Hill-Clohessy-Wiltshire model. We address the control design problem by isolating the…
We present a new Lyapunov-based switching attitude controller for energy-efficient real-time selection of the torque inputted to an uncrewed aerial vehicle (UAV) during flight. The proposed method, using quaternions to describe the attitude…
The orbit tracking of free-evolutionary target system in closed quantum systems is studied in this paper. Based on the concept of system control theory, the unitary transformation is applied to change the time-dependent target function into…
Satellite rendezvous and docking (RvD) maneuvers are essential for satellite servicing and in-orbit assembly. Traditional approaches often treat translational and rotational motions independently, simplifying control design but potentially…
This paper explores expressing the relative state in the close-proximity satellite relative motion problem in terms of fundamental solution constants. The nominal uncontrolled relative state can be expressed in terms of a weighted sum of…
This paper investigates a planar tracking problem between a leader and follower agent. We propose a novel feedback speed control law, paired with a constant bearing steering strategy, to maintain an abreast formation between the two agents.…
We study the problem of distance-based formation shape control for autonomous agents with double-integrator dynamics. Our considerations are focused on exponential stability properties. For second-order formation systems under the standard…
This paper presents the design of a control model to navigate the differential mobile robot to reach the desired destination from an arbitrary initial pose. The designed model is divided into two stages: the state estimation and the…
A dynamic backstepping method is proposed to design controllers for nonlinear systems in the pure-feedback form, for which the traditional backstepping method suffers from solving the implicit nonlinear algebraic equation. The idea of this…
This work addresses the practical problem of distributed formation tracking control of a group of quadrotor vehicles in a relaxed sensing graph topology with a very limited sensor set, where only one leader vehicle can access the global…
Over the past few decades, continuous quaternion-based attitude control has been proven highly effective for driving rotational systems that can be modeled as rigid bodies, such as satellites and drones. However, methods rooted in this…
This paper addresses the trajectory tracking control problem for underactuated VTOL UAVs. According to the different actuation mechanisms, the most common UAV platforms can achieve only a partial decoupling of attitude and position tasks.…
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…
Various control methods have been studied to control the position and attitude of quadrotors. There are some differences in the mathematical equations between the two types of quadrotor configurations that lead to different control…
This paper describes the development of a magnetic attitude control subsystem for a 2U cubesat. Due to the presence of gravity gradient torques, the satellite dynamics are open-loop unstable near the desired pointing configuration.…
This paper presents a constraint-enforcing control framework for a class of discrete-time strict-feedback nonlinear systems. The objective is to guarantee closed-loop stability while ensuring forward invariance of a prescribed safe set…