相关论文: Autonomous and Robust Orbit-keeping for Small Body…

The goal of the present paper is to make a numerical analysis of parametric optimization of low thrust orbital maneuver. An orbital maneuver occurs when it is necessary to modify the orbit a space vehicle to change its function or to…

Self-balancing robot is based on the principle of Inverted pendulum, which is a two-wheel vehicle balances itself up in the vertical position with reference to the ground. It consists of both hardware and software implementation. Mechanical…

With the accelerated development of robot technologies, optimal control becomes one of the central themes of research. In traditional approaches, the controller, by its internal functionality, finds appropriate actions on the basis of the…

An optimal control problem for longitudinal motions of a thin elastic rod is considered. We suppose that a normal force, which changes piecewise constantly along the rod's length, is applied to the cross-section so that the positions of…

This paper addresses the problem of steering a robotic vehicle along a geometric path specified with respect to a reference frame moving in three dimensions, termed the Moving Path Following (MPF) motion control problem. The MPF motion…

Asteroid body-fixed hovering problem using nonideal solar sail models in a compact form with controllable sail area is investigated in this paper. The nonlinear dynamic equations for the hovering problem are constructed for a spherically…

Given the cost and critical functions of satellite constellations, ensuring mission longevity and safe decommissioning is essential for space sustainability. This article presents a Model Predictive Control for spacecraft trajectory and…

Many researchers around the world are researching to get control solutions that enhance robots' ability to navigate in dynamic environments autonomously. However, until these days robots have limited capability and many navigation tasks on…

In this paper, the repeat-groundtrack orbit maintenance problem is addressed for spacecraft driven by electric propulsion. An adaptive solution is proposed, which combines an hysteresis controller and a recursive least squares filter. The…

This paper studies the tracking control problem for nonholonomic mobile robots based on second order dynamics, with application to consensus tracking and formation tracking. The greatest novelty in this paper is that the reference…

In this article we design a backstepping control law based on geometric principles to swing up a spherical pendulum mounted on a moving quadrotor. The available degrees of freedom in the control vector also permit us to position the plane…

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…

In this paper, we study linear control systems with positive bounded orbits. We show that the existence of positive bounded orbits imposes strong algebraic and topological constraints on the state space. In fact, a linear control system has…

The paper proposes a method for the correct by design coordination of autonomous driving systems (ADS). It builds on previous results on collision avoidance policies and the modeling of ADS by combining descriptions of their static…

This paper deals with the problem of time-constrained navigation of a robot modeled by uncertain nonlinear non-affine dynamics in a bounded workspace of $\mathbb{R}^n$. Initially, we provide a novel class of robust feedback controllers that…

The geometric arrangement of planet and moon orbits into a regularly spaced pattern of distances is the result of a self-organizing system. The positive feedback mechanism that operates a self-organizing system is accomplished by harmonic…

A new dynamic control algorithm in order to direct the trajectory of a glider to a pre-assigned target point is proposed. The algorithms runs iteratively and the approach to the target point is self-correcting. The algorithm is applicable…

We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments cluttered with obstacles having arbitrary convex shapes. The proposed navigation approach relies on a hybrid feedback to guarantee global…

This work shows the existence of optimal control laws for persistent monitoring of mobile targets in a one-dimensional mission space and derives explicit solutions. The underlying performance metric consists of minimizing the total…

We propose a novel scheme for surveillance of a dynamic ground convoy moving along a non-linear trajectory, by aerial agents that maintain a uniformly spaced formation on a time-varying elliptical orbit encompassing the convoy. Elliptical…