相关论文: Spacecraft Attitude and Reaction Wheel Desaturatio…

This article solves an optimal control problem arising in attitude control of a spacecraft under state and control constraints. We first derive the discrete-time attitude dynamics by employing discrete mechanics. The orientation transfer,…

A model-based feasible control strategy for multi-rotor systems is presented, pursuing two control objectives simultaneously: Mechanical loads on the main tower are to be mitigated, and an externally determined power change is to be…

This paper introduces a novel attitude controller for spacecraft subject to actuator saturation and multiple exclusion cone constraints. The proposed solution relies on a two-layer approach where the first layer prestabilizes the system…

This work introduces two lightweight model predictive control (MPC) approaches for attitude tracking with reaction wheels during spacecraft rendezvous synchronization. Both approaches are based on a novel attitude deviation formulation,…

This paper employs Pulse Width Modulation (PWM) method to a Nonlinear Model Predictive Control (NMPC) for satellite attitude control and detumbling. Magnetic torquers have been used as actuators for the stabilization and attitude control of…

This paper considers the problem of achieving attitude consensus in spacecraft formations with bounded, time-varying communication delays between spacecraft connected as specified by a strongly connected topology. A state feedback con-…

This paper proposes a solution to the attitude tracking problem for a novel quadrotor tailsitter unmanned aerial vehicle called swiveling biplane quadrotor. The proposed vehicle design addresses the lack of yaw control authority in…

This paper presents a continuous optimization approach to DCOC and its application to spacecraft high-precision attitude control. The approach computes a control input sequence that maximizes the time-before-exit by solving a nonlinear…

This paper focuses on dynamic control allocation for a hexarotor UAV platform, considering a trajectory tracking task as as case study. It is assumed that the platform is dual-tilting, meaning that it is able to tilt each propeller…

This paper focuses on the issue of how to realize spacecraft attitude control with guaranteed performance while conspicuously reducing the actuator acting frequency simultaneously. The prescribed performance control (PPC) scheme is often…

Traditional aerial vehicles are constrained to perform specific tasks due to their adhoc designs. Based on modularity, we propose a versatile robot, H-ModQuad, that can adapt to different tasks by increasing its load capacity and actuated…

This paper discusses the design and the performance achievable with active aerodynamic attitude control in very low Earth orbit, i.e. below 450 km in altitude. A novel real-time algorithm is proposed for selecting the angles of deflection…

We analyze and experimentally compare various rotational error metrics for use in quadrotor controllers. Traditional quadrotor attitude controllers have used Euler angles or the full rotation to compute an attitude error and scale that to…

This note briefly introduces the computed torque control method for trajectory tracking. The method is applicable to fully actuated robots, i.e, those whose inverse dynamics can be solved for any feasible acceleration. This includes many…

Relative attitude formation control systems are developed for multiple spacecraft, based on the line-of-sight measurements between spacecraft in formation. The proposed control systems are unique in the sense that they do not require…

The Mixed convention/braking Actuation Mobile Robot (MAMR) was designed to tackle some of the drawbacks of conventional mobile robots such as losing controllability due to primary actuator failures, mechanical complexity, weight, and cost.…

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.…

A disjunctive sensing and actuation problem is considered in which the actuators and sensors are prevented from operating together over any given time step. This problem is motivated by practical applications in the area of spacecraft…

Achieving cooperative transportation by aerial robot teams ensures flexibility regarding payloads and robustness against failures, which has garnered significant attention in recent years. This study proposes a flexible decentralized…

A solar sail is one of the most promising space exploration system because of its theoretically infinite specific impulse using solar radiation pressure (SRP). Recently, some researchers proposed "transformable spacecrafts" that can…