相关论文: Terminal Soft Landing Guidance Law Using Analytic …
The momentum conservation law is applied to analyse the dynamics of pulsejet engine in vertical motion in a uniform gravitational field in the absence of friction. The model predicts existence of a terminal speed given frequency of the…
In the event of a total loss of thrust, a pilot must identify a reachable landing site and subsequently execute a forced landing. To do so, they must estimate which region on the ground can be reached safely in gliding flight. We call this…
This paper presents the design of a state-feedback control law for spacecraft rendezvous, formulated using the Hill-Clohessy-Wiltshire equations. The proposed method introduces an impulsive control strategy to regulate thruster operations.…
In this paper, an exponentially stable trajectory tracking controller is proposed for multi-UAV payload transport. The multi-UAV payload system has a 2-DOF magnetic spherical joint between the UAVs and the vertical rigid links of the…
Current control design for fast vision-based flight tends to rely on high-rate, high-dimensional and perfect state estimation. This is challenging in real-world environments due to imperfect sensing and state estimation drift and noise. In…
In this project, we attempt to optimize a landing trajectory of a rocket. The goal is to minimize the total fuel consumption during the landing process using different techniques. Once the optimal and feasible trajectory is generated using…
This paper presents a nonlinear control law for the stabilization of a fixed-wing UAV. Such controller solves the path-following problem and the longitudinal control problem in a single control. Furthermore, the control design is performed…
In this paper, we formulate a virtual target-based path following guidance law aimed towards multi-vehicle path following problem. The guidance law is well suited to precisely follow circular paths while minting desired distance between two…
This paper proposes a new Active Disturbance Rejection based robust trajectory tracking controller design method in state space. It can compensate not only matched but also mismatched disturbances. Robust state and control input references…
Space missions that use low-thrust propulsion technology are becoming increasingly popular since they utilize propellant more efficiently and thus reduce mission costs. However, optimizing continuous-thrust trajectories is complex,…
This letter presents a novel control solution to the robust global position and heading tracking problem for underactuated vehicles, equipped with single-axis thrust and full torque actuation, operating under strict, user-defined actuation…
Autonomous vehicles (AVs) enable more efficient and sustainable transportation systems. Ample studies have shown that controlling a small fraction of AVs can smooth traffic flow and mitigate traffic congestion. However, deploying AVs in…
We present an approach to path following using so-called control funnel functions. Synthesizing controllers to "robustly" follow a reference trajectory is a fundamental problem for autonomous vehicles. Robustness, in this context, requires…
We describe a new temporal verification framework for safety and robustness analysis of nonlinear control laws, our target application being a space launcher vehicle. Robustness analysis, formulated as a nonconvex nonlinear optimization…
Reference path following is a key component in the functioning of almost all engineered autonomous agents. Among several path following guidance methods in existing literature, vector-field-based guidance approach has got wide attention…
This work presents a method for generating position, attitude, and velocity states for an aircraft following a smoothed reference trajectory. The method also generates accelerometer and gyro measurements consistent with the aircraft states.…
Soft landing on small celestial bodies (SCBs) poses unique challenges, as gravitational models poorly characterize the higher-order gravitational effects of SCBs. Existing control approaches lack guarantees for safety under gravitational…
This paper presents a novel contact-implicit trajectory optimization method using an analytically solvable contact model to enable planning of interactions with hard, soft, and slippery environments. Specifically, we propose a novel contact…
In this paper a solution to the problem of following a curved path in the presence of a constant unknown ocean current disturbance is presented. We introduce a path variable that represents the curvilinear abscissa on the path which is used…
We find a near detailed balance solution to the relativistic Boltzmann equation under the relaxation time approximation with a collision term which differs from the Anderson-Witting model and is dependent on the stationary observer. Using…