相关论文: Thrust vector control and state estimation archite…

In this paper, an adaptive super-twisting controller is designed for an agile maneuvering quadrotor unmanned aerial vehicle to achieve accurate trajectory tracking in the presence of external disturbances. A cascaded control architecture is…

A self-powered system is a control technology that powers itself by harvesting energy from exogenous disturbances. This article details the design and experimental validation of a prototype self-powered vibration control system, for…

Autonomous Micro Aerial Vehicles (MAVs) such as quadrotors equipped with manipulation mechanisms have the potential to assist humans in tasks such as construction and package delivery. Cables are a promising option for manipulation…

In this paper, a dynamic-programming approach to the coupled translational and rotational control of thruster-driven spacecraft is studied. To reduce the complexity of the problem, dynamic-programming-based optimal policies are calculated…

Modern Space Launch Vehicles (SLVs), being slender in shape and due to the use of lightweight materials, are generally flexible in nature. This structural flexibility, when coupled with sensor and actuator dynamics, can adversely affect the…

Control-based continuation (CBC) is a general and systematic method to explore the dynamic response of a physical system and perform bifurcation analysis directly during experimental tests. Although CBC has been successfully demonstrated on…

This work proposes a systematic framework for modelling and controller design of a Commercial-Off-The Shelf (COTS) unmanned rotorcraft using control theory and principles, for brick wall construction. With point to point navigation as the…

Solid-fuel ramjets offer a compact, energy-dense propulsion option for long-range, high-speed flight but pose significant challenges for thrust regulation due to strong nonlinearities, limited actuation authority, and complex multi-physics…

Traditional vertical take-off and landing (VTOL) aircraft can not achieve optimal efficiency for various payload weights and has limited mobility due to its under-actuation. With the thrust-vectoring mechanism, the proposed modular team UAV…

To properly simulate and implement a quadcopter flight control for intended load and flight conditions, the quadcopter model must have parameters on various relationships including propeller thrust-torque, thrust-PWM, and thrust--angular…

This paper proposes a novel control design for voltage tracking of an islanded AC microgrid in the presence of {nonlinear} loads and parametric uncertainties at the primary level of control. The proposed method is based on the Tube-Based…

The Gateway will represent a primary space system useful for the Artemis program, Earth-Moon transportation, and deep space exploration. It is expected to serve as a staging location on the way to the lunar surface. This study focuses on…

Wide-area control (WAC) has been shown to be an effective tool for damping low-frequency oscillations in power systems. In the current state of art, WAC is challenged by two main factors - namely, scalability of design and complexity of…

This article proposes a novel control architecture using a centralized nonlinear model predictive control (CNMPC) scheme for controlling multiple micro aerial vehicles (MAVs). The control architecture uses an augmented state system to…

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…

Predictive Stator Current Control (PSCC) has been proposed for control of multi-phase drives. The flexibility offered by the use of a Cost Function has been used to deal with the increased number of phases. However, tuning of the Weighting…

This letter presents a new predictive control architecture for high-dimensional robotic systems. As opposed to a conventional Model Predictive Control (MPC) approach to locomotion that formulates a hierarchical sequence of optimization…

Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating workspace. Thus, robust motion control is still an open issue for…

The attitude stabilization of a micro-satellite employing a variable-amplitude cold gas thruster which reflects as a time varying gain on the control input is considered. Existing literature uses a persistence filter based approach that…

Husky Carbon, a robot developed by Northeastern University, serves as a research platform to explore unification of posture manipulation and thrust vectoring. Unlike conventional quadrupeds, its joint actuators and thrusters enable enhanced…