相关论文: Event-Based Impulsive Control for Spacecraft Rende…

We address the multi-agent persistent monitoring problem defined on a set of nodes (targets) interconnected over a network topology. A measure of mean overall node state uncertainty evaluated over a finite period is to be minimized by…

This paper presents a method for guiding a robot manipulator to capture and bring a tumbling satellite to a state of rest. The proposed approach includes developing a coordination control for the combined system of the space robot and the…

This paper introduces a class of time-varying controllers for Euler-Lagrange systems such that the convergence occurs at an arbitrary finite time, independently of initial conditions, and free of chattering. The proposed controller is based…

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…

This paper presents a new technique for the design of approximate reasoning based controllers for dynamic physical systems with interacting goals. In this approach, goals are achieved based on a hierarchy defined by a control knowledge base…

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…

A framework for the event-triggered control synthesis under signal temporal logic (STL) tasks is proposed. In our previous work, a continuous-time feedback control law was designed, using the prescribed performance control technique, to…

This paper revisits Followerstopper, a phase-space-based control system that had demonstrated its ability to mitigate emergent traffic jams due to stop-and-go traffic during rush hour in the mixed-autonomy setting. Followerstopper was…

This paper presents a novel robust variable-horizon model predictive control scheme designed to intercept a target moving along a known trajectory, in finite time. Linear discrete-time systems affected by bounded process disturbances are…

In the context of event-triggered control, the timing of the triggering events carries information about the state of the system that can be used for stabilization. At each triggering event, not only can information be transmitted by the…

This paper studies the problem of stabilization of a nonlinear system with time-varying delays in both sensing and actuation using event-triggered control. Our proposed strategy seeks to opportunistically minimize the number of control…

This paper studies periodic event-triggered networked control for nonlinear systems, where the plants and controllers are connected by multiple independent communication channels. Several network-induced imperfections are considered…

The present paper deals with data-driven event-triggered control of a class of unknown discrete-time interconnected systems (a.k.a. network systems). To this end, we start by putting forth a novel distributed event-triggering transmission…

Existing spacecraft rendezvous and docking control methods largely rely on predefined dynamic models and often exhibit limited robustness in realistic on-orbit environments. To address this issue, this paper proposes an Imitation…

This paper investigates the problem of controlling an autonomous agent to simultaneously localize and circumnavigate an unknown stationary target using bearing-only measurements (without explicit differentiation). To improve the convergence…

In a recent paper [8], we introduced a data-based approach to design event-triggered controllers for linear systems directly from data. Here, we extend the results in [8] to a class of nonlinear systems. We provide two data-based designs…

This paper considers the robustness of event-triggered control of general linear systems against additive or multiplicative frequency-domain uncertainties. It is revealed that in static or dynamic event triggering mechanisms, the sampling…

This paper introduces a novel approach for achieving fixed-time tracking consensus control in multiagent systems (MASs). Departing from the reliance on traditional controllers, our innovative controller integrates modified tuning and…

We present technical results justifying a method for guidance of a Dubins-like vehicle with saturated control towards a target in a steady simply connected maze-like environment. The vehicle always has access to to the target relative…

This work addresses the landing problem of an aerial vehicle, exemplified by a simple quadrotor, on a moving platform using image-based visual servo control. First, the mathematical model of the quadrotor aircraft is introduced, followed by…