相关论文: NMPC and Deep Learning-Based Vibration Control of …

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…

Satellites are subject to various severe vibration during different phases of flight. The concept of satellite smart adapter is proposed in this study to achieve active vibration control of launch vehicle on satellite. The satellite smart…

Utilizing a servo to tilt each rotor transforms quadrotors from underactuated to overactuated systems, allowing for independent control of both attitude and position, which provides advantages for aerial manipulation. However, this…

Among various satellite actuators, magnetic torquers have been widely equipped for stabilization and attitude control of small satellites. Although magnetorquers are generally used with other actuators, such as momentum wheels, this paper…

This work presents a novel Nonlinear Model Predictive Control (NMPC) strategy for high-speed Maglev vehicles that explicitly incorporates mechanical suspension dynamics into the control model. Unlike conventional approaches, which often…

In this paper a novel device aimed at controlling the mechanical vibrations of plates by means of a set of electrically-interconnected piezoelectric actuators is described. The actuators are embedded uniformly in the plate wherein they…

Positive-negative pressure regulation is critical to soft robotic actuators, enabling large motion ranges and versatile actuation modes. However, it remains challenging due to complex nonlinearities, oscillations, and direction-dependent,…

Nonlinear Model Predictive Control (NMPC) is a powerful approach for controlling highly dynamic robotic systems, as it accounts for system dynamics and optimizes control inputs at each step. However, its high computational complexity makes…

In this paper, we propose, discuss, and validate an online Nonlinear Model Predictive Control (NMPC) method for multi-rotor aerial systems with arbitrarily positioned and oriented rotors which simultaneously addresses the local reference…

Agile earth observation satellites employ multiple actuators to enable flexible and responsive imaging capabilities. While significant advancements in actuator technology have enhanced satellites' torque and momentum, relatively little…

Autonomy is a key challenge for future space exploration endeavours. Deep Reinforcement Learning holds the promises for developing agents able to learn complex behaviours simply by interacting with their environment. This paper investigates…

This paper presents a comprehensive analysis of how excitation design influences the identification of the inertia properties of rigid nano- and micro-satellites. We simulate nonlinear attitude dynamics with reaction-wheel coupling,…

Attitude control hardware for small satellites is often limited in power and space availability given the importance of the science instruments they exist to transport. To mitigate this, a dual-spin stabilized satellite actuated via…

A perception-aware Nonlinear Model Predictive Control (NMPC) strategy aimed at performing vision-based target tracking and collision avoidance with a multi-rotor aerial vehicle is presented in this paper. The proposed control strategy…

This paper presents a data-driven modelling method for nonlinear dynamics of drag-free satellite based on Koopman operator theory, and a model predictive controller is designed based on the identified model. The nonlinear dynamics of…

Vibration-based techniques are among the most common condition monitoring approaches. With the advancement of computers, these approaches have also been improved such that recently, these approaches in conjunction with deep learning methods…

The nanometer scale beam sizes at the interaction point in linear colliders limit the allowable motion of the final focus magnets. We have constructed a prototype system to investigate the use of active vibration damping to control magnet…

Touch sensing is widely acknowledged to be important for dexterous robotic manipulation, but exploiting tactile sensing for continuous, non-prehensile manipulation is challenging. General purpose control techniques that are able to…

This paper introduces a novel nonlinear model predictive control (NMPC) framework that incorporates a lifting technique to enhance control performance for nonlinear systems. While the lifting technique has been widely employed in linear…

This paper presents a sensitivity-based tube Nonlinear Model Predictive Control (NMPC) framework for cooperative aerial chains under bounded parametric uncertainty. We consider a planar two-vehicle chain connected by rigid links, modeled…