相关论文: A hybrid dynamical system approach to the impulsiv…

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…

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…

This paper explores the design of hybrid feedback for a class of affine nonlinear systems with topological constraints that prevent global asymptotic stability. A new hybrid control strategy is introduced, which differs conceptually from…

We propose a hybrid formulation of the linear inverted pendulum model for bipedal locomotion, where the foot switches are triggered based on the center of mass position, removing the need for pre-defined footstep timings. Using a concept…

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…

This paper addresses the problem of distributed coordination control of spacecraft formation. It is assumed that the agents measure relative positions of each other with a non-zero, unknown constant sensor bias. The translational dynamics…

In this paper we study the problem of designing periodic orbits for a special class of hybrid systems, namely mechanical systems with underactuated continuous dynamics and impulse events. We approach the problem by means of optimal control.…

Feedback control schemes are a promising way to manipulate transport properties of driven colloidal suspensions. In the present article we suggest a feedback scheme to enhance the collective transport of colloidal particles with repulsive…

Hybrid dynamical systems are systems which undergo both continuous and discrete transitions. The Bolza problem from optimal control theory is applied to these systems and a hybrid version of Pontryagin's maximum principle is presented. This…

Orbit-attitude hovering of a spacecraft at the natural relative equilibria in the body-fixed frame of a uniformly rotating asteroid is discussed in the framework of the full spacecraft dynamics, in which the spacecraft is modeled as a rigid…

This paper presents a novel hybrid control protocol for de-conflicting multiple vehicles with constraints on control inputs. We consider turning rate and linear speed constraints to represent fixed-wing or car-like vehicles. A set of…

This paper proposes a hybrid-gain finite-time sliding-mode control (HG-FTSMC) strategy for a class of perturbed nonlinear systems. The controller combines a finite-time reaching law that drives the sliding variable to a predefined boundary…

The spacecraft attitude tracking problem is addressed with actuator faults and uncertainties among inertias, external disturbances, and, in particular, state estimates. A continuous sliding mode attitude controller is designed using…

The problem of controlling hybrid dynamical systems using model predictive control (MPC) is formulated and sufficient conditions for asymptotic stability of a set are provided. Hybrid dynamical systems are modeled in terms of hybrid…

This paper presents a computationally efficient model predictive control formulation that uses an integral Chebyshev collocation method to enable rapid operations of autonomous agents. By posing the finite-horizon optimal control problem…

This work introduces two lightweight model predictive control (MPC) approaches for attitude tracking with reaction wheels during spacecraft rendezvous synchronization. Both approaches are based on a novel attitude deviation formulation,…

Incremental stability is a property of dynamical systems ensuring the uniform asymptotic stability of each trajectory rather than a fixed equilibrium point or trajectory. Here, we introduce a notion of incremental stability for stochastic…

The ability to manipulate and interlace cables using aerial vehicles can greatly improve aerial transportation tasks. Such interlacing cables create hitches by winding two or more cables around each other, which can enclose payloads or can…

We address stability of a class of Markovian discrete-time stochastic hybrid systems. This class of systems is characterized by the state-space of the system being partitioned into a safe or target set and its exterior, and the dynamics of…

This article deals with the implementation of the Smith Predictor for state feedback control in state space representation. The desired control law, obtained using partial differential equations and backstepping control, contains an…