相关论文: Singularity-Free Spacecraft Attitude Control Using…

This paper discusses translation and attitude control in spacecraft rendezvous and soft docking. The target spacecraft orbit can be either circular or elliptic. The high fidelity model for this problem is intrinsically a nonlinear system…

The paper develops a Model Predictive Controller for constrained control of spacecraft attitude with reaction wheel actuators. The controller exploits a special formulation of the cost with the reference governor like term, a low complexity…

Efficient performance of a number of engineering systems is achieved through different modes of operation - yielding systems described as "hybrid", containing both real-valued and discrete decision variables. Prominent examples of such…

The gimbal-spacecraft system, that consists of a variable speed control moment gyro (VSCMG) mounted inside a spacecraft, has been employed as an actuator for the attitude control of a spacecraft and has been much studied in the aerospace…

Spacecraft attitude control using only magnetic torques is a time-varying system. Many designs were proposed using LQR and H-infinity formulations. The existence of the solutions depends on the controllability of the linear time-varying…

Given the cost and critical functions of satellite constellations, ensuring mission longevity and safe decommissioning is essential for space sustainability. This article presents a Model Predictive Control for spacecraft trajectory and…

In this paper, we present a virtual control contraction metric (VCCM) based nonlinear parameter-varying (NPV) approach to design a state-feedback controller for a control moment gyroscope (CMG) to track a user-defined trajectory set. This…

In this work, we develop a numerically tractable trajectory optimization problem for rest-to-rest attitude transfers with CMG-driven spacecraft. First, we adapt a specialized dynamical model which avoids many of the numerical challenges…

This paper presents a new kind of vectorial backstepping sliding mode control (BSMC) for the positioning and trajectory tracking of an autonomous robotic airship. Also, a unified framework basis for the design/analysis of vectorial BSMC, as…

A robust Model Predictive Control (MPC) approach for controlling front steering of an autonomous vehicle is presented in this paper. We present various approaches to increase the robustness of model predictive control by using weight…

In this paper, a sampling-based Stochastic Model Predictive Control algorithm is proposed for discrete-time linear systems subject to both parametric uncertainties and additive disturbances. One of the main drivers for the development of…

Intelligent aerial platforms such as Unmanned Aerial Vehicles (UAVs) are expected to revolutionize various fields, including transportation, traffic management, field monitoring, industrial production, and agricultural management. Among…

We propose an optimal control method for simultaneous slewing and vibration control of flexible spacecraft. Considering dynamics on different time scales, the optimal control problem is discretized on micro and macro time grids using a…

Hardware and software architecture of a novel spacecraft Attitude Determination and Control System (ADCS) based on smartphones using Variable Speed Control Moment Gyroscope (VSCMG) as actuator is proposed here. A spacecraft ground simulator…

In this paper, we consider the problem of minimum-time optimal control for a dynamical system with initial state uncertainties and propose a sequential convex programming (SCP) solution framework. We seek to minimize the expected terminal…

This paper proposes a real-time model predictive control (MPC) scheme to execute multiple tasks using robots over a finite-time horizon. In industrial robotic applications, we must carefully consider multiple constraints for avoiding joint…

This paper deals with sliding mode control for multivariable polytopic uncertain systems. We provide systematic procedures to design variable structure controllers (VSCs) and unit-vector controllers (UVCs). Based on suitable representations…

In this paper, a guidance and tracking control strategy for fixed-wing Unmanned Aerial Vehicle (UAV) autopilots is presented. The proposed control exploits recent results on sample-based stochastic Model Predictive Control, which allow…

Due to the complexity and inconstancy of the space environment, accurate mathematical models for spacecraft rendezvous are difficult to obtain, which consequently complicates the control tasks. In this paper, a linearized time-variant plant…

This paper presents a novel robust variable-horizon model predictive control scheme designed to intercept a target moving along a known trajectory, in finite time. Linear discrete-time systems affected by bounded process disturbances are…