相关论文: Near Time-Optimal Feedback Instantaneous Impact Po…

A new analytic formulation to express the time derivatives of the instantaneous impact point (IIP) of a rocket is proposed. The geometric relationship on a plane tangential to the IIP is utilized to decompose the inertial IIP rate vector…

This paper develops a new guidance law for powered descent landing of a rocket-powered vehicle. The proposed law derives the acceleration command for a point mass model of the vehicle by expressing velocity as a dynamical system undergoing…

This paper investigates the problem of impact-time-control and proposes a learning-based computational guidance algorithm to solve this problem. The proposed guidance algorithm is developed based on a general prediction-correction concept:…

The minimum-time path for intercepting a moving target with a prescribed impact angle is studied in the paper. The candidate paths from Pontryagin's maximum principle are analyzed, so that each candidate is related to a zero of a…

This paper proposes a pitch plane trajectory tacking control solution for suborbital launch vehicles relying on adaptive feedback linearization. Initially, the 2D dynamics and kinematics for a single-engine, thrust-vector-controlled…

An optimal guidance law for impact time control with field-of-view constraint is presented. The guidance law is derived by first converting the inequality-constrained nonlinear optimal control problem into an equality-constrained one…

A straight forward application of feedback linearization to the missile autopilot design for acceleration control may be limited due to the nonminimum characteristics and the model uncertainties. As a remedy, this paper presents a cascade…

We develop an optimization-based framework for joint real-time trajectory planning and feedback control of feedback-linearizable systems. To achieve this goal, we define a target trajectory as the optimal solution of a time-varying…

With the goal of enabling the exploitation of impacts in robotic manipulation, a new framework is presented for control of robotic manipulators that are tasked to execute nominally simultaneous impacts. In this framework, we employ tracking…

This paper is concerned with devising the nonlinear optimal guidance for intercepting a stationary target with a fixed impact time. According to Pontryagin's Maximum Principle (PMP), some optimality conditions for the solutions of the…

This paper introduces a nonlinear optimal guidance framework for guiding a pursuer to intercept a moving target, with an emphasis on real-time generation of optimal feedback control for a nonlinear optimal control problem. Initially,…

The design of guidance law can be considered a kind of finite-time error-tracking problem. A unified free-time convergent guidance law design approach based on the error dynamics and the free-time convergence method is proposed in this…

This paper considers the relaxed version of the transport problem for general nonlinear control systems, where the objective is to design time-varying feedback laws that transport a given initial probability measure to a target probability…

This paper proposes a nonlinear optimal guidance law that enables a pursuer to enclose a target within arbitrary geometric patterns, which extends beyond conventional circular encirclement. The design operates using only relative state…

This paper develops a guidance law for nonlinear interception using input-output feedback linearization (IOL). The engagement between a pursuer and an evader is modeled using point-mass dynamics, and a baseline IOL-based guidance law is…

This paper presents a novel synthesis method for designing an optimal and robust guidance law for a non-throttleable upper stage of a launch vehicle, using a convex approach. In the unperturbed scenario, a combination of lossless and…

In this paper, we present a learning-based approach that allows a robot to quickly follow a reference path defined in joint space without exceeding limits on the position, velocity, acceleration and jerk of each robot joint. Contrary to…

The optimal cooperative guidance in the nonlinear setting for intercepting a target by multiple pursuers is studied in the paper. As certain relative angles can improve observability, the guidance command is required to cooperatively…

Impact-aware robotic manipulation benefits from an accurate map from ante-impact to post-impact velocity signals to support, e.g., motion planning and control. This work proposes an approach to generate and experimentally validate such…

In this study, we address the problem of in-flight object catching using a quadruped robot with a basket. Our objective is to accurately predict the impact point, defined as the object's landing position. This task poses two key challenges:…