相关论文: Spacecraft Relative Motion Dynamics and Control Us…
Resolution-Scale Relativity suggests quantum-like dynamics may emerge in chaotic macroscopic systems. In planetary systems, this would lead to orbital periods being proportional to cubed integers $n$. Each system is then characterized by a…
In this paper, we investigate the attitude tracking problem of uncertain flexible spacecraft systems subject to external disturbances. In sharp contrast to existing results, the dynamics of flexible spacecraft systems and external…
Robust output tracking is addressed in this paper for a heat equation with Neumann boundary conditions and anti-collocated boundary input and output. The desired reference tracking is solved using the well-known flatness and Lyapunov…
A classical approach to the restricted three-body problem is to analyze the dynamics of the massless body in the synodic reference frame. A different approach is represented by the perturbative treatment: in particular the averaged problem…
In this paper we consider an intrinsic point of view to describe the equations of motion for higher-order variational problems with constraints on higher-order trivial principal bundles. Our techniques are an adaptation of the classical…
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…
Gravitational scattering of small bodies (planetesimals) by a planet remains a fundamental problem in celestial mechanics. It is traditionally modeled within the circular restricted three-body problem (CR3BP), where individual particle…
This paper investigates the application of zonotope-based reachability analysis to low-thrust spacecraft in both two-body and cislunar environments. Reachable sets are generated under two-body and circular restricted three-body (CR3BP)…
In this paper, two models of interest for Celestial Mechanics are presented and analysed, using both analytic and numerical techniques, from the point of view of the possible presence of regular and/or chaotic motion, as well as the…
The property that every control system should posses is stability, which translates into safety in real-life applications. A central tool in systems theory for synthesizing control laws that achieve stability are control Lyapunov functions…
An approach is developed to find approximate solutions to the restricted circular three body problem. The solution is useful in approximately describing the position vectors of three spherically symmetric masses, one of which has a much…
This paper proposes a data-driven method for powered prosthesis control that achieves stable walking without the need for additional sensors on the human. The key idea is to extract the nominal gait and the human interaction information…
We consider the planar circular restricted three-body problem (PCRTBP), as a model for the motion of a spacecraft relative to the Earth-Moon system. We focus on the Lagrange equilibrium points $L_1$ and $L_2$. There are families of Lyapunov…
In this paper, we present an observation scheme, with proven Lyapunov stability, for estimating a humanoid's floating base orientation. The idea is to use velocity aided attitude estimation, which requires to know the velocity of the…
We study the problem of robust global stabilization in control-affine systems, focusing on dynamic uncertainties in the control directions \emph{and} the presence of topological obstructions that prevent the existence of smooth global…
In the context of spacecraft attitude control, parametrizations such as direction vectors or quaternions are often used to avoid singularities in the attitude representation. This, however, complicates the stability analysis of the system…
Uneven terrain necessarily transforms periodic walking into a non-periodic motion. As such, traditional stability analysis tools no longer adequately capture the ability of a bipedal robot to locomote in the presence of such disturbances.…
In this article, we present a new scheme that approximates unknown sensorimotor models of robots by using feedback signals only. The formulation of the uncalibrated sensor-based regulation problem is first formulated, then, we develop a…
Novel method for semi-analytical solving of equations of a trapped dynamics for a planetoid m4 close to the plane of mutual motion of main bodies around each other (in case of a special type of Bi-Elliptic Restricted 4-Bodies Problem) is…
Particle trajectories in the form of a logarithmic spiral with specified angular time dependence, "ZK spirals," are shown to be analytic solutions for motion in non-central, but simple force power-laws. Each ZK spiral is a particular…