11 papers · 1 filter
Experimental Demonstration of a Decentralized Electromagnetic Formation Flying Control Using Alternating Magnetic Field Forces
Sumit S. Kamat, Ajin Sunny, T. Michael Seigler +1
Electromagnetic formation flying (EMFF) is challenging due to the complex coupling between the electromagnetic fields generated by each satellite in the formation. To address this…
Predicted-Flow Control Barrier Functions for Real-Time Safe Optimal Control
Amirsaeid Safari, Jesse B. Hoagg
Control barrier functions (CBFs) provide real-time safety guarantees through pointwise conditions on the state. However, synthesizing a valid CBF is difficult and the resulting con…
Receding-Horizon Nonlinear Optimal Control With Safety Constraints Using Constrained Approximate Dynamic Programming
Ricardo Gutierrez, Jesse B. Hoagg
We present a receding-horizon optimal control for nonlinear continuous-time systems subject to state constraints. The cost is a quadratic finite-horizon integral. The key enabling…
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…
Electromagnetic Formation Flying Using Alternating Magnetic Field Forces and Control Barrier Functions for State and Input Constraints
Sumit S. Kamat, T. Michael Seigler, Jesse B. Hoagg
This article presents a feedback control algorithm for electromagnetic formation flying with constraints on the satellites' states and control inputs. The algorithm combines severa…
Control Barrier Functions With Real-Time Gaussian Process Modeling
Ricardo Gutierrez, Jesse B. Hoagg
We present an approach for satisfying state constraints in systems with nonparametric uncertainty by estimating this uncertainty with a real-time-update Gaussian process (GP) model…