相关论文: Semi-global Exponential Stability for Dual Quatern…

The global attitude synchronization problem is studied for networked rigid bodies under directed topologies. To avoid the asynchronous pitfall where only vector parts converge to some identical value but scalar parts do not, multiplicative…

This paper provides new results for a robust adaptive tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid…

In this paper, we introduce a model-free, real-time, dynamic optimization and control method for a class of rigid body dynamics. Our method is based on a recent extremum seeking control for vibrational stabilization (ESC-VS) approach that…

This paper proposes a feedback control perspective for Human-Earth Systems (HESs) which essentially are complex systems that capture the interactions between humans and nature. Recent attention in HES research has been directed towards…

The European Proximity Operation Simulator (EPOS) of the DLR-German Aerospace Center is a robotics-based simulator that aims at validating and verifying a satellite docking phase. The generic concept features a robotics tracking system…

Recent advances in deep learning have provided new data-driven ways of controller design to replace the traditional manual synthesis and certification approaches. Employing neural network (NN) as controllers however, presents its own…

In this paper, a robust control solution for a satellite equipped with a robotic manipulator is presented. First, the dynamic model of the system is derived based on quaternions to describe the evolution of the attitude of the base…

In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…

For nonlinear analytic control systems, we introduce a new paradigm for dynamic output feedback stabilization. We propose to periodically sample the usual observer based control law, and to reshape it so that it coincides with a ''control…

This work focuses on pose-following, a variant of path-following in which the goal is to steer the system's position and attitude along a path with a moving frame attached to it. Full body motion control, while accounting for the additional…

The dual quaternion guidance (DQG) algorithm was selected as the candidate 6-DoF powered-descent guidance algorithm for NASA's Safe and Precise Landing -- Integrated Capabilities Evolution (SPLICE) project. DQG is capable of handling…

It is nontrivial to achieve exponential stability even for time-invariant nonlinear systems with matched uncertainties and persistent excitation (PE) condition. In this paper, without the need for PE condition, we address the problem of…

Electromagnetic suspension system (EMS) is mostly used in the field of high-speed vehicle. In this paper, a space exploring vehicle quarter electromagnetic suspension system is modelled, designed and simulated using linear quadratic optimal…

This published paper investigates the distributed tracking control problem for a class of Euler-Lagrange multi-agent systems when the agents can only measure the positions. In this case, the lack of the separation principle and the strong…

These lectures demonstrate the development of a PID control framework for mechanical systems. Based on the observation that mechanical systems are essentially double integrator systems, we generalize the linear PID controller to mechanical…

In this paper, we design a hybrid controller that globally exponentially stabilizes a system evolving on the n-dimensional sphere, denoted by Sn. This hybrid controller is induced by a synergistic collection of potential functions on Sn. We…

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…

An Inertial Navigation System (INS) is a system that integrates acceleration and angular velocity readings from an Inertial Measurement Unit (IMU), along with other sensors such as Global Navigation Satellite Systems (GNSS) position, GNSS…

Over the past few decades, continuous quaternion-based attitude control has been proven highly effective for driving rotational systems that can be modeled as rigid bodies, such as satellites and drones. However, methods rooted in this…

This paper considers the prescribed performance control (PPC) of spacecraft attitude tracking under multiple physical constraints, focusing on the robust issues. A novel Barrier Lyapunov function is proposed to realize the…