相关论文: Tightly-Coupled Estimation and Guidance for Robust…
Machine learning techniques have demonstrated their effectiveness in achieving autonomy and optimality for nonlinear and high-dimensional dynamical systems. However, traditional black-box machine learning methods often lack formal stability…
This work introduces two lightweight model predictive control (MPC) approaches for attitude tracking with reaction wheels during spacecraft rendezvous synchronization. Both approaches are based on a novel attitude deviation formulation,…
Satellite dynamics in unknown environments are inherently uncertain due to factors such as varying gravitational fields, atmospheric drag, and unpredictable interactions with space debris or other celestial bodies. Traditional sliding mode…
Autonomous satellite servicing missions must execute close-range rendezvous under stringent safety and operational constraints while remaining computationally tractable for onboard use and robust to uncertainty in sensing, actuation, and…
In this paper, a novel adaptive smooth disturbance observer-based fast finite-time adaptive backstepping control scheme is presented for the attitude tracking of the 3-DOF helicopter system subject to compound disturbances. First, an…
We develop a probabilistic framework for \emph{rendezvous planning}: given sparse, noisy observations of a fast-moving target, plan rendezvous spatiotemporal coordinates for a set of significantly slower seeking agents. The unknown target…
Ramp metering, which regulates the flow entering the freeway, is one of the most effective freeway traffic control methods. This paper introduces an output-feedback adaptive approach to ramp metering that combines model predictive control…
Planning multi-contact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large obstacles. Traditionally, the value function is approximated…
This article aims to derive a practical tracking control algorithm for flexible air-breathing hypersonic vehicles (FAHVs) with lumped disturbances, unmeasurable states and actuator failures. Based on the framework of the backstepping…
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…
Accurate and adaptive dynamic models are critical for underwater vehicle-manipulator systems where hydrodynamic effects induce time-varying parameters. This paper introduces a novel uncertainty-aware adaptive dynamics model framework that…
Safety is the foremost concern for autonomous platooning. The vehicle-to-vehicle (V2V) communication delay and the sudden appearance of obstacles will trigger the safety of the intended functionality (SOTIF) issues for autonomous…
As near-Earth resident space objects proliferate, there is an increasing demand for reliable technologies in applications of on-orbit servicing, debris removal, and orbit modification. Rendezvous and docking are critical mission phases for…
Precise user localization and tracking enhances energy-efficient and ultra-reliable low latency applications in the next generation wireless networks. In addition to computational complexity and data association challenges with…
A robust drift-safe rendezvous trajectory optimization tool is developed in this work, with applications to orbital rendezvous and proximity operations. The method is based on direct collocation and utilizes a sequential convex programming…
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…
We propose a method to compute approximate solutions to the minimum-fuel far-field rendezvous problem for thrust-vectoring spacecraft. It is well-known that the use of linearized spacecraft rendezvous equations may not give sufficiently…
This paper presents a computationally efficient optimization algorithm for solving nonconvex optimal control problems that involve discrete logic constraints. Traditional solution methods for these constraints require binary variables and…
Morphing aerial vehicles offer enhanced maneuverability and fuel efficiency compared to fixed-wing configurations. However, the trade-off between performance gains and control cost in dynamic, unsteady maneuvers remains under-explored. This…
This paper presents a novel model predictive control (MPC) approach for autonomous pick-and-place between moving platforms with a hook-equipped aerial manipulator. First, for accurate and rapid modeling of the complex dynamics, a digital…