5 papers
Safe Receding-Horizon Control of Fixed-Wing Aircraft Using Constrained Approximate Dynamic Programming
Felipe Arenas-Uribe, Ricardo Gutierrez, Jesse B. Hoagg
We present a receding-horizon optimal control for fixed-wing aircraft subject to state constraints. These constraints include operational constraints such as altitude, geofencing,…
Safe Position and Attitude Control for Landing on Small Celestial Bodies with Gravitational Uncertainty
Felipe Arenas-Uribe, T. Michael Seigler, Jesse B. Hoagg
Landing on small celestial bodies is challenging because the spacecraft must satisfy safety and actuator constraints despite gravitational forces that are difficult to model accura…
Higher-Order Gravitational Models: A Tutorial on Spherical Harmonics and the Newtonian Model
Felipe Arenas-Uribe
Accurate modeling of gravitational interactions is fundamental to the analysis, prediction, and control of space systems. While the Newtonian point-mass approximation suffices for…
Geometric Conditions for Lossless Convexification in Linear Optimal Control with Discrete-Valued Inputs: Real-Time Implementation for Spacecraft Rendezvous
Felipe Arenas-Uribe, Hasan A. Poonawala, Jesse B. Hoagg
Optimal control problems with discrete-valued inputs are inherently challenging due to their mixed-integer nature, rendering them generally intractable for real-time, safety-critic…
Safe Landing on Small Celestial Bodies with Gravitational Uncertainty Using Disturbance Estimation and Control Barrier Functions
Felipe Arenas-Uribe, T. Michael Seigler, Jesse B. Hoagg
Soft landing on small celestial bodies (SCBs) poses unique challenges, as gravitational models poorly characterize the higher-order gravitational effects of SCBs. Existing control…