相关论文: Long-Range Rendezvous and Docking Maneuver Control…

Satellite constellation missions, consisting of a large number of spacecraft, are increasingly being launched or planned. Such missions require novel control approaches, in particular for what concerns orbital phasing maneuvers. In this…

We propose a tracking control law for the fully actuated rigid body system in the presence of any unknown constant disturbance by employing quaternions with the stable embedding technique and Lyapunov stability theory. The stable embedding…

This paper investigates the rendezvous problem for the autonomous cooperative landing of an unmanned aerial vehicle (UAV) on an unmanned surface vehicle (USV). Such heterogeneous agents, with nonlinear dynamics, are dynamically decoupled…

Small unmanned aerial vehicles (UAVs) have become standard tools in reconnaissance and surveying for both civilian and defense applications. In the future, UAVs will likely play a pivotal role in autonomous package delivery, but current…

Recently, deep space exploration, especially focusing on halo orbits, the periodic orbits of the Moon, has been widely studied. The spacecraft in halo orbits performs periodic orbital motion, which affects the attitude motion by periodic…

Over the several decades, the space debris at LEO has grown rapidly which had caused a serious threat to the operating satellite in an orbit. To avoid the risk of collision and protect the LEO environment, the space robotics ADR concept has…

Benefiting from the fusion of communication and intelligent technologies, network-enabled robots have become important to support future machine-assisted and unmanned applications. To provide high-quality services for robots in wide areas,…

The approximate nonlinear receding-horizon control law is used to treat the trajectory tracking control problem of rigid link robot manipulators. The derived nonlinear predictive law uses a quadratic performance index of the predicted…

A methodology is presented for the differential drag control of a large fleet of propulsion-less satellites deployed in the same orbit. The controller places satellites into a constellation with specified angular offsets and zero-relative…

This paper presents the integration of a Variable Stiffness Link (VSL) for long-reach aerial manipulation, enabling adaptable mechanical coupling between an aerial multirotor platform and a dual-arm manipulator. Conventional long-reach…

The feasibility of performing airborne and ground manipulation, perception, and reconnaissance using wheeled rovers, unmanned aerial vehicles, CubeSats, SmallSats and more have been evaluated before. Among all of these solutions,…

Aerodynamic collision avoidance manoeuvres provide an opportunity for satellites in Low Earth Orbits to reduce the risk during close encounters. With rising numbers of satellites and objects in orbit, satellites experience close encounters…

This work addresses the modelling and control aspects for quadcopter or drone unmanned aerial vehicles (UAVs). First, the mathematical model of the drone is derived by identifying significant parameters and the negligible ones are treated…

Electromechanical switching devices, such as solenoid valves, contactors, and relays, suffer from undesirable phenomena like clicking, mechanical wear, and contact bounce. Despite that, they are still widely used in industry due to their…

The robotic manipulation of composite rigid-deformable objects (i.e. those with mixed non-homogeneous stiffness properties) is a challenging problem with clear practical applications that, despite the recent progress in the field, it has…

This paper presents a robust tracking controller for tracking curvature-constrained paths by vehicles/robots with uncertain Dubins dynamics. Although Dubins paths have been widely used in vehicular and robotic applications, robust and…

Controlling mixed platoons, which consist of both connected and automated vehicles (CAVs) and human-driven vehicles (HDVs), poses significant challenges due to the uncertain and unknown human driving behaviors. Data-driven control methods…

The challenge of satellite stabilization, particularly those with uncertain flexible dynamics, has become a pressing concern in control and robotics. These uncertainties, especially the dynamics of a third-party client satellite,…

Drones equipped with overhead manipulators offer unique capabilities for inspection, maintenance, and contact-based interaction. However, the motion of the drone and its manipulator is tightly linked, and even small attitude changes caused…

Autonomous missions of small unmanned aerial vehicles (UAVs) are prone to collisions owing to environmental disturbances and localization errors. Consequently, a UAV that can endure collisions and perform recovery control in critical aerial…