相关论文: A Minimum-propellant Pontryagin-based Nonlinear MP…

This paper employs Pulse Width Modulation (PWM) method to a Nonlinear Model Predictive Control (NMPC) for satellite attitude control and detumbling. Magnetic torquers have been used as actuators for the stabilization and attitude control of…

We present safe control of partially-observed linear time-varying systems in the presence of unknown and unpredictable process and measurement noise. We introduce a control algorithm that minimizes dynamic regret, i.e., that minimizes the…

In this paper, the L1-minimization for the translational motion of a spacecraft in a circular restricted three-body problem (CRTBP) is considered. Necessary con- ditions are derived by using the Pontryagin Maximum Principle, revealing the…

We present Model Predictive Planning (MPP), a trajectory planner for low-agility vehicles such as a fixed-wing aircraft to navigate obstacle-laden environments. MPP consists of (1) a multi-path planning procedure that identifies candidate…

This paper presents the real-time retargeting guidance policy developed for the Chandrayaan-3 lunar landing mission. The baseline guidance generates approximate fuel-optimal descent trajectories, while a high-level policy enables safe…

This paper presents a novel synthesis method for designing an optimal and robust guidance law for a non-throttleable upper stage of a launch vehicle, using a convex approach. In the unperturbed scenario, a combination of lossless and…

A novel trajectory design methodology is proposed in the current work to minimize the state uncertainty in the crucial mission of spacecraft rendezvous. The trajectory is shaped under constraints utilizing a multiple-impulse approach. State…

This paper investigates the use of Reinforcement Learning for the robust design of low-thrust interplanetary trajectories in presence of severe disturbances, modeled alternatively as Gaussian additive process noise, observation noise,…

Being motivated by ceiling inspection applications via unmanned aerial vehicles (UAVs) which require close proximity flight to surfaces, a systematic control approach enabling safe and accurate close proximity flight is proposed in this…

In this paper, we present a controller framework that synthesizes control policies for Jump Markov Linear Systems subject to stochastic mode switches and imperfect mode estimation. Our approach builds on safe and robust methods for Model…

We study the tracking of a trajectory for a nonholonomic system by recasting the problem as an optimal control problem. The cost function is chosen to minimize the error in positions and velocities between the trajectory of a nonholonomic…

Single-lane car-following is a fundamental task in autonomous driving. A desirable car-following controller should keep a reasonable range of distances to the preceding vehicle and do so as smoothly as possible. To achieve this, numerous…

This article presents a unified synchronization framework with application to precision formation flying spacecraft. Central to the proposed innovation, in applying synchronization to both translational and rotational dynamics in the…

A robust drift-safe rendezvous trajectory optimization tool is developed in this work, with applications to orbital rendezvous and proximity operations. The method is based on direct collocation and utilizes a sequential convex programming…

This paper proposes a Nonlinear Model-Predictive Control (NMPC) method capable of finding and converging to energy-efficient regular oscillations, which require no control action to be sustained. The approach builds up on the recently…

The general objective of this Ph.D. thesis is to study the dynamics and control of rigid and flexible spacecraft supported by a high-fidelity numerical simulation environment. The demand for greater attitude pointing precision, attitude…

The reachable set of controlled dynamical systems consist of the set of all possible reachable states from an initial condition, over a certain period of time under various control and operation constraints and exogenous disturbances. For…

Minimum-fuel low-thrust rendezvous guidance yields bang-bang control structures highly sensitive to estimation errors, sensor anomalies, and solver regularization, making aggressive closed-loop execution brittle for uncooperative proximity…

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…

Micro Aerial Vehicles (MAVs) navigation in subterranean environments is gaining attention in the field of aerial robotics, however there are still multiple challenges for collision free navigation in such harsh environments. This article…