相关论文: A Systematic Methodology for Modeling and Attitude…

Model-based reinforcement learning (RL) has proven to be a data efficient approach for learning control tasks but is difficult to utilize in domains with complex observations such as images. In this paper, we present a method for learning…

This paper presents a scheme to design a tracking controller for a class of uncertain nonlinear systems using a robust feedback linearization approach. The scheme is composed of two steps. In the first step, a linearized uncertainty model…

We present a balanced truncation model reduction approach for a class of nonlinear systems with time-varying and uncertain inputs. First, our approach brings the nonlinear system into quadratic-bilinear~(QB) form via a process called…

This paper discusses translation and attitude control in spacecraft rendezvous and soft docking. The target spacecraft orbit can be either circular or elliptic. The high fidelity model for this problem is intrinsically a nonlinear system…

An approach to stabilization of control systems with ultimately wide ranges of uncertainly disturbed parameters is offered. The method relies on using of nonlinear structurally stable functions from catastrophe theory as controllers.…

We propose a new framework to design controllers for high-dimensional nonlinear systems. The control is designed through the iterative linear quadratic regulator (ILQR), an algorithm that computes control by iteratively applying the linear…

This paper discusses spacecraft control using variable-speed CMGs. A new operational concept for VSCMGs is proposed. This new concept makes it possible to approximate the complex nonlinear system by a linear time-varying system (LTV). As a…

This paper presents the modeling, control design, and performance analysis of a Magnetic Ball Suspension System (MBSS), a nonlinear and inherently unstable electromechanical system used in various precision applications. The system's…

In this paper, nonlinear model reduction for power systems is performed by the balancing of empirical controllability and observability covariances that are calculated around the operating region. Unlike existing model reduction methods,…

The level of maturity reached by robust control theory techniques nowadays contributes to a considerable minimization of the development time of an end-to-end control design of a spacecraft system. The advantage offered by this framework is…

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…

Model predictive control (MPC) has played a more crucial role in various robotic control tasks, but its high computational requirements are concerning, especially for nonlinear dynamical models. This paper presents a $\textbf{la}$tent…

This article presents a unified approach to quadratic optimal control for both linear and nonlinear discrete-time systems, with a focus on trajectory tracking. The control strategy is based on minimizing a quadratic cost function that…

This paper presents an end-to-end framework for robust structure/control optimization of an industrial benchmark. When dealing with space structures, a reduction of the spacecraft mass is paramount to minimize the mission cost and maximize…

This paper proposes a novel lifting method which converts the standard discrete-time linear periodic system to an augmented linear time-invariant system. The linear quadratic optimal control is then based on the solution of the…

The main objective of this study is to propose a methodology to build a parametric linear model of Flexible Multibody Systems for control design. This approach uses a combined Finite Element - State Space Approach based on component modes…

The increased need in pointing performance for Earth observation and science Space missions together with the use of lighter and flexible structures directly come with the need of a robust pointing performance budget from the very beginning…

Due to the requirements of high positioning accuracy, small swing angle, short transportation time, and high safety, both motion and stabilization control for an gantry crane system becomes an interesting issue in the field of control…

We establish a novel approach to probing spatially resolved multi-time correlation functions of interacting many-body systems, with scalable experimental overhead. Specifically, designing nonlinear measurement protocols for multidimensional…

The aim in this paper is to apply the iLQR, iterative Linear Quadratic Regulator, to control the movement of a mobile robot following an already defined trajectory. This control strategy has proven its utility for nonlinear systems. As…