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

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…

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…

We present a Model Predictive Control (MPC) strategy for unknown input-affine nonlinear dynamical systems. A non-parametric method is used to estimate the nonlinear dynamics from observed data. The estimated nonlinear dynamics are then…

This Technical Note presents a simple control approach for global trajectory tracking and formation control of underactuated surface vessels equipped with only two propellers. The control approach exploits the inherent cascaded structure of…

This letter is concerned with power control for a ultra-reliable and low-latency communications (URLLC) enabled unmanned aerial vehicle (UAV) system incorporated with deep neural network (DNN) based channel estimation. Particularly, we…

Tilted hexarotors embody a technology that remains partially unexploited in terms of its potential, especially concerning precise and concurrent position and attitude control. Focusing on these aerial platforms, we propose two control…

The use of electric low-thrust propulsion systems for orbit maneuvers is becoming a popular choice among satellite manufacturers due to their inherent merits over their chemical counterparts. Many designers choose to incorporate multiple of…

In this paper, we consider the analysis and control of continuous-time nonlinear systems to ensure universal shifted stability and performance, i.e., stability and performance w.r.t. each forced equilibrium point of the system. This…

This paper focuses on the design of a stabilizing control law for an aerial vehicle which is physically connected to a ground station by means of a tether cable. By taking advantage of the tensile force acting along the taut cable, it is…

This paper concerns the adaptive control problem for a class of nonlinear stochastic systems in which the state update is given by a nonlinear function of linear dynamics plus additive stochastic noise. Such systems arise in a wide range of…

We propose a simple and computationally efficient approach for designing a robust Model Predictive Controller (MPC) for constrained uncertain linear systems. The uncertainty is modeled as an additive disturbance and an additive error on the…

This thesis is concerned with the rejection of time-varying disturbances in linear model predictive control of discrete-time systems. In the literature, disturbances are widely rejected by using velocity models, disturbance model with…

We propose a two-phase risk-averse architecture for controlling stochastic nonlinear robotic systems. We present Risk-Averse Nonlinear Steering RRT* (RANS-RRT*) as an RRT* variant that incorporates nonlinear dynamics by solving a nonlinear…

This paper proposes a systematic method for generating practical and robust low-thrust spacecraft trajectories. One contribution is to consider the change in mass of the spacecraft at two levels: a) the propulsive acceleration and b) the…

This work develops a robust nonlinear Model Predictive Control (MPC) framework for path tracking in autonomous vehicles operating at the limits of handling utilizing a Control Contraction Metric (CCM) derived from a perturbed dynamic single…

As the cost of batteries lowers, sizing and control methods that are both fast and can achieve their promised performances when deployed are becoming more important. In this paper, we show how stochastically tuned rule based controllers…

This paper presents a trajectory tracking control strategy that modulates the active power injected by geographically distributed inverter-based resources to support transient stability. Each resource is independently controlled, and its…

This paper presents a method for path-following for quadcopter trajectories in real time. Non-Linear Guidance Logic is used to find the intercepts of the subsequent destination. Trajectory tracking is implemented by formulating the…

Fault tolerance is achieved through multiply redundant hardware systems in large civil aircraft. This means of achieving fault tolerance is infeasible for small compact unmanned aerial vehicles. In this paper we apply a fault tolerant…

This paper presents an approach to mutual collision avoidance based on Nonlinear Model Predictive Control (NMPC) with time-dependent Reciprocal Velocity Constraints (RVCs). Unlike most existing methods, the proposed approach relies solely…