Article
Engineering, Aerospace
Jiyoon Hwang, Jinah Lee, Chandeok Park
Summary: This study presents a method for trajectory design/control and obstacle avoidance in spacecraft formation flying. By using artificial potential field (APF) method, a formation potential is defined to derive a formation control law for maintaining a specific shape of the formation. To avoid local minima, a rotational potential is proposed in a local coordinate frame and incorporated into the APF framework. A gradient-based control law is developed using the synthesized formation and rotational potentials to design/control the formation flying trajectory while avoiding collision with obstacles. The proposed continuous feedback control law is proven to be asymptotically stable according to Lyapunov analysis. Formation keeping/reconfiguration examples demonstrate the success of the proposed method in maintaining the desired formation trajectory without collision with obstacles or convergence to local minima.
ADVANCES IN SPACE RESEARCH
(2022)
Article
Robotics
Cosmin Ginerica, Mihai Zaha, Florin Gogianu, Lucian Busoniu, Bogdan Trasnea, Sorin Grigorescu
Summary: The paper introduces ObserveNet Control as a vision-dynamics approach to the predictive control problem of autonomous vehicles, using a deep neural network and planner to predict future sensory data and compute safe vehicle trajectories. The method aims to learn the dynamics of the observed driving environment in a self-supervised manner, without manually specifying training labels.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Engineering, Mechanical
Wenjia Wang, Chuanjiang Li, Yanning Guo
Summary: This paper focuses on the problem of relative position coordinated control for spacecraft formation flying with a leader spacecraft under obstacle environment. A Null-Space-Based behavioral control architecture is built to avoid obstacle/collision and maintain formation configuration, and distributed estimators are presented for each follower spacecraft. An adaptive coordinated tracking control algorithm is designed based on desired velocity and barrier Lyapunov function to ensure states satisfy time-varying constraints despite uncertainties and unknown disturbances.
NONLINEAR DYNAMICS
(2021)
Article
Engineering, Electrical & Electronic
Xinglong Zhang, Wenxin Zhang, Youqun Zhao, Hai Wang, Fen Lin, Yingfeng Cai
Summary: The study proposes a personalized motion planning and tracking control framework to prevent collisions between autonomous vehicles and obstacles ahead, which can generate obstacle avoidance motion planning based on the individual needs of the passengers and improve driving performance according to their needs.
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
(2022)
Article
Automation & Control Systems
Henglai Wei, Chao Shen, Yang Shi
Summary: This article studies the formation tracking problem of a team of autonomous underwater vehicles (AUVs) with ocean current disturbances, proposing a distributed Lyapunov-based model predictive controller to address this issue. It utilizes extended state observer-based auxiliary control laws and online optimization to enhance the formation tracking performance of the multi-AUV system, ensuring closed-loop stability with stability constraints and artificial potential fields for inter-AUV collision avoidance. Extensive simulations demonstrate the superior control performance and robustness of the proposed method on Saab Falcon AUVs.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2021)
Article
Engineering, Aerospace
Minglei Zhuang, Liguo Tan, Kehang LI, Shenmin Song
Summary: This paper introduces a fixed-time stability control method for spacecraft formation reconfiguration. By designing terminal sliding mode surfaces and coordinated controllers, the system states achieve finite settling time while meeting mutual distance constraints.
CHINESE JOURNAL OF AERONAUTICS
(2021)
Article
Engineering, Aerospace
Zengfu Wang, Jiarui Tian, Jing Fu
Summary: We aim to minimize or balance fuel consumption in the satellite formation reconfiguration process within a fixed orbit transfer time. Regardless of the initial state, the formation will eventually result in an in-plane formation. We consider constraints such as relative motion equation, initial and terminal states, collision avoidance, and maximum thrust. By introducing an unknown offset in the terminal state and using a convex-programming-based iterative approach, we successfully optimize both fuel usage and the offset of the formations, outperforming benchmarks in all numerically tested situations.
ADVANCES IN SPACE RESEARCH
(2023)
Article
Engineering, Marine
Yu Peng, Yun Li
Summary: Trajectory tracking control of unmanned surface vessels (USVs) is a popular topic. This paper proposes a fusion framework of field theoretical planning and a model predictive control (MPC) algorithm to achieve collision-free tracking trajectory. The algorithm combines the direction trend of collision avoidance planning obtained through a fast matching (FM) method based on the electric field model with a flexible distance and reconstructs the architecture of the MPC and constraint system to generate the optimal trajectory tracking controller. The new algorithm has been tested and validated for multiple vessel situations, showing potential for advancing collision-free trajectory tracking navigation.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2023)
Article
Automation & Control Systems
Radhe Shyam Sharma, Arindam Mondal, Laxmidhar Behera
Summary: This article presents a displacement-based formation control method for perturbed multirobot systems, using a two-step design process to solve the problem. The holonomic framework generates reference trajectories, while the nonholonomic framework tracks these reference points to ensure collision avoidance and connectivity.
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
(2021)
Article
Engineering, Aerospace
Xiande Wu, Wenbin Bai, Yaen Xie, Xianliang Zhang, Ting Song
Summary: This paper proposes a prescribed performance robust control method for the leader/follower (L/F) formation to solve the problem of spacecraft formation flying (SFF) full-process control (FPC). The main contribution of this paper lies in three aspects: developing a six-degree-of-freedom (DOF) error dynamics model of SFF, designing a prescribed performance bound that considers transience and transient performance, and designing a predefined performance robust controller based on the backstepping method. The proposed theoretical results are verified through illustrative simulations.
Article
Engineering, Civil
Shuo Cheng, Liang Li, Yong-Gang Liu, Wei-Bing Li, Hong-Qiang Guo
Summary: The paper introduces a lane-keeping integrated with collision avoidance control system based on a virtual fluid-flow model, combining lane-keeping and collision avoidance functions. Through co-simulations and real-bus tests, the effectiveness of the proposed control system has been verified.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2021)
Article
Automation & Control Systems
Giuseppe Fedele, Luigi D'Alfonso, Giuseppe Franze
Summary: This paper presents a distributed control architecture for addressing cooperative perimeter surveillance of rectangular areas in a multi-agent system. The system dynamics are described by double integrator models subject to bounded disturbances. The paper introduces a novel methodology to generate proper state trajectories for a swarm of agents, which are then used as references for the underlying model predictive controllers bank. The control architecture is designed to switch between two different distributed algorithms in order to guarantee constraints satisfaction within the capturing region despite any disturbance realization. Simulation results demonstrate the effectiveness of the proposed approach.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2022)
Article
Ergonomics
Ming Yue, Chao Fang, Hongzhi Zhang, Jinyong Shangguan
Summary: A driver-centered steering assist controller is proposed to reduce accidents caused by obstacles avoidance, with an adaptive authority allocation system and a concept of space collision risk introduced. The allocation of steering authorities is done adaptively based on SCR, and an autonomous steering controller using MPC and APF techniques is developed to aid the driver when necessary, showing feasibility and effectiveness in simulations.
ACCIDENT ANALYSIS AND PREVENTION
(2021)
Article
Engineering, Aerospace
Yong Guo, Dawei Zhang, Ai-jun Li, Shenmin Song, Chang-qing Wang, Zongming Liu
Summary: A finite-time controller with safe constraints is designed for non-cooperative space autonomous rendezvous and docking using an artificial potential function. The approach uses an elliptic cissoid to establish the obstacle avoidance model and a sliding mode surface to address collision avoidance. The controller ensures the chaser spacecraft avoids colliding with space objects around the noncooperative target spacecraft, as well as large stationary physical attachments. The validity of the controller is confirmed through numerical simulations.
AEROSPACE SCIENCE AND TECHNOLOGY
(2021)
Article
Engineering, Civil
Songtao Xie, Junyan Hu, Parijat Bhowmick, Zhengtao Ding, Farshad Arvin
Summary: This paper proposes a distributed motion planning algorithm for safe overtaking of autonomous vehicles in a dynamic environment. By introducing the concepts of velocity difference potential field and acceleration difference potential field, a multi-vehicle system consisting of both autonomous and human-operated vehicles is modeled, and an optimization-based algorithm is proposed to solve the overtaking problem.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2022)
Article
Engineering, Aerospace
Leonel M. Palacios, Anthony Harness, N. Jeremy Kasdin
Article
Engineering, Aerospace
Matteo Ceriotti, Gregory May-Wilson
Summary: A semi-analytical switching control law is developed to enable a solar sail to emulate a smaller effective characteristic acceleration without changing geometry or optical properties. By periodically changing the pitch angle of the sail, the acceleration produced by the sail matches exactly that of a smaller sail in both direction and magnitude. The method is validated on optimal Earth-Mars trajectories.
ADVANCES IN SPACE RESEARCH
(2021)
Article
Engineering, Aerospace
Andrea Viale, Matteo Ceriotti, Colin McInnes
Article
Engineering, Aerospace
Jeannette Heiligers, Merel Vergaaij, Matteo Ceriotti
Summary: This paper delves deeper into the analysis of solar-sail-driven quasi-pole-sitters, presenting a comprehensive trajectory design scheme that aims to enhance the feasibility and utility of these orbits for continuous planetary polar observation.
ADVANCES IN SPACE RESEARCH
(2021)
Article
Engineering, Aerospace
Matteo Ceriotti, Giulia Viavattene, Iain Moore, Alessandro Peloni, Colin R. McInnes, Jan Thimo Grundmann
Summary: This paper explores the use of solar sailing as a means of propulsion for NEO rendezvous missions, finding multiple rendezvous mission options using a tree-search technique and trajectory optimization. It also shows low-thrust options for rendezvous with the Taurid swarm and the fictitious asteroid 2019 PDC, demonstrating the potential for successful asteroid deflection exercises.
ADVANCES IN SPACE RESEARCH
(2021)
Article
Engineering, Aerospace
Guido Fracchia, James D. Biggs, Matteo Ceriotti
Summary: A low-jerk attitude guidance method is developed based on analytical smoothing of a bang-off-bang maneuver, which reduces excitation of multi-body and flexible structures during a slew maneuver.
Article
Engineering, Aerospace
Andrea Caruso, Alessandro A. Quarta, Giovanni Mengali, Matteo Ceriotti
AEROSPACE SCIENCE AND TECHNOLOGY
(2020)
Article
Engineering, Aerospace
Andrea Viale, Colin McInnes, Gilles Bailet, Matteo Ceriotti
Summary: A novel concept is presented for deflecting rotating asteroids by converting rotational kinetic energy into translational kinetic energy using an orbital siphon. Key parameters are discussed, showing that typical velocity changes can be achieved within a decade.
JOURNAL OF SPACECRAFT AND ROCKETS
(2021)
Article
Engineering, Aerospace
Merel Vergaaij, Colin R. McInnes, Matteo Ceriotti
Summary: Space resource utilization (SRU) can drive the growth of the space economy by reducing costs and risks for activities beyond Earth, allowing for commercial entities to generate revenue independently of governmental agencies. The economic and commercial potential of SRU on planetary and small solar system bodies, particularly mining water for hydrogen and oxygen using solar power, is significant. Near-Earth asteroids are shown to be a cost-effective location for mining and processing resources like LOX/LH2 for customers in the vicinity of the Earth and the Moon, while main-belt asteroids may be considered once these near-Earth resources are depleted.
Article
Engineering, Aerospace
Giulia Viavattene, Matteo Ceriotti
Summary: This study proposes a method based on artificial neural networks to estimate the transfer time and cost between asteroids, and optimizes rendezvous sequences through optimal control problems. The results demonstrate that the method can accurately estimate the duration and cost of low-thrust transfers in a short computational time.
JOURNAL OF SPACECRAFT AND ROCKETS
(2022)
Article
Engineering, Aerospace
Giulia Viavattene, Ellen Devereux, David Snelling, Niven Payne, Stephen Wokes, Matteo Ceriotti
Summary: This paper proposes using artificial neural networks (ANNs) to estimate the cost and duration of transporting multiple debris objects, in order to find the optimal sequence of objects and maximize the number of objects removed. It is found that using ANNs is 26 times faster than current methods and allows for the selection of faster and less expensive options.
Article
Engineering, Aerospace
Livia Ionescu, Colin R. McInnes, Matteo Ceriotti
Summary: The use of asteroid resources can benefit future space missions by reducing the need to extract materials from Earth. This paper introduces a new strategy for asteroid capture missions, using two spacecraft to capture near-Earth asteroids. Compared to the conventional one-spacecraft strategy, this novel two-spacecraft strategy allows for more efficient retrieval of asteroid resources.
Article
Engineering, Aerospace
Giulia Viavattene, Matteo Ceriotti
Summary: This study proposes the use of machine learning techniques and artificial neural networks to determine the optimal sequence for returning asteroids to Earth, using low-thrust propulsion technology for multiple asteroid rendezvouses and sample collection. By analyzing the performance of NEA sequences, it is demonstrated that visiting scientifically interesting asteroids requires more propellant mass.
JOURNAL OF SPACECRAFT AND ROCKETS
(2022)
Article
Engineering, Aerospace
Iain Moore, Matteo Ceriotti, Colin R. McInnes
Summary: Solar sail, as a propellantless propulsion system, can be used for high energy missions. This paper investigates the effects of changing sail performance during deployment and proposes effective control methods for maintaining the sail in a desired orbit.
Article
Engineering, Aerospace
Amirah R. Algethami, Colin R. McInnes, Matteo Ceriotti
Summary: This paper utilizes the Hill's approximation model to manipulate the relative motion of two asteroids by three impulses, resulting in their bound binary motion in Earth's orbit. The feasibility of this strategy is demonstrated, and potential applications for parking small captured near-Earth asteroids in Earth's orbit are discussed.
