相关论文: Launcher Attitude Control based on Incremental Non…
Integral reinforcement learning (IRL) was proposed in literature to obviate the requirement of drift dynamics in adaptive dynamic programming framework. Most of the online IRL schemes in literature require two sets of neural network (NNs),…
Model Predictive Path Integral (MPPI) control has proven to be a powerful tool for the control of uncertain systems (such as systems subject to disturbances and systems with unmodeled dynamics). One important limitation of the baseline MPPI…
This paper focuses on the attitude pointing control problem under pointing-forbidden constraints and performance constraints. The spacecraft is expected to align its sensor's boresight to a desired direction, while the terminal control…
Recent literature in the field of machine learning (ML) control has shown promising theoretical results for a Deep Neural Network (DNN) based Nonlinear Adaptive Controller (DNAC) capable of achieving trajectory tracking for nonlinear…
In recent years, the focus on developing robot manipulators has shifted towards prioritizing safety in Human-Robot Interaction (HRI). Impedance control is a typical approach for interaction control in collaboration tasks. However, such a…
Recent efforts in the development of autonomous driving technology have induced great advancements in perception, planning and control systems. Model predictive control is one of the most popular advanced control methods, but its…
As off-the-shelf (OTS) autopilots become more widely available and user-friendly and the drone market expands, safer, more efficient, and more complex motion planning and control will become necessary for fixed-wing aerial robotic…
This paper proposes a data-driven model predictive control for multirotor collision avoidance considering uncertainty and an unknown model from a payload. To address this challenge, sparse identification of nonlinear dynamics (SINDy) is…
Safety Index Synthesis (SIS) is critical for deriving safe control laws. Recent works propose to synthesize a safety index (SI) via nonlinear programming and derive a safe control law such that the system 1) achieves forward invariant (FI)…
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…
In this study, a distinct reconfigurable fault-tolerant flight control strategy is addressed for mitigating one of the persistent safety-critical issue, i.e. loss of control triggered by actuator faults. The attainable acceleration set…
This paper presents a new Lyapunov-based nonlinear model predictive controller (LNMPC) for the attitude control problem of unmanned aerial vehicles (UAVs), which is essential for their functioning operation. The controller is designed based…
Recently, the utilization of aerial manipulators for performing pushing tasks in non-destructive testing (NDT) applications has seen significant growth. Such operations entail physical interactions between the aerial robotic system and the…
The safety of autonomous driving systems, particularly self-driving vehicles, remains of paramount concern. These systems exhibit affine nonlinear dynamics and face the challenge of executing predefined control tasks while adhering to state…
Atmospheric flight phase of a launch vehicle is utilized to evaluate the performance of an H-infinity controller in the presence of disturbances. Dynamics of the vehicle is linearly modeled using time-varying parameters. An operating point…
Autopilot systems are typically composed of an "inner loop" providing stability and control, while an "outer loop" is responsible for mission-level objectives, e.g. way-point navigation. Autopilot systems for UAVs are predominately…
Power grids are evolving toward 100% renewable energy interfaced by inverters. Virtual inertia and damping provided by inverters are essential to synchronism and frequency stability of future power grids. This paper numerically addresses…
In recent decades, one of the scientists' main concerns has been to improve the accuracy of satellite attitude, regardless of the expense. The obvious result is that a large number of control strategies have been used to address this…
Conventional multi-rotors are under-actuated systems, hindering them from independently controlling attitude from position. In this study, we present several distinct configurations that incorporate additional control inputs for…
Chandrayaan-3 mission achieved a historic milestone with its successful soft landing near the lunar south pole, highlighting the critical role of the navigation, guidance, and control (NGC) system. Navigation provided vehicle state…