11 papers
Output Feedback Backup Control Barrier Functions: Safety Guarantees Under Input Bounds and State Estimation Error
David E. J. van Wijk, Tamas G. Molnar, Samuel Coogan +3
Guaranteeing the safety of controllers is vital for real-world applications, but is markedly difficult when the states are not perfectly known and when the control inputs are bound…
Projective Transformations for Regularized Central-Force Dynamics: Hamiltonian Formulation
Joseph T. A. Peterson, Manoranjan Majji, John L. Junkins
This work introduces a Hamiltonian approach to regularization and linearization of central-force particle dynamics through a new canonical extension of the so-called "projective de…
Orbit Elements from Kepler Solutions in Projective Coordinates
Joseph T. A. Peterson, Manoranjan Majji, John L. Junkins
Closed-Form Kepler solutions in projective coordinates are used to define a corresponding set of eight orbit elements and obtain their governing equations for arbitrarily-perturbed…
Uncertainty Estimators for Robust Backup Control Barrier Functions
David E. J. van Wijk, Ersin Das, Anil Alan +5
Designing safe controllers is crucial and notoriously challenging for input-constrained safety-critical control systems. Backup control barrier functions offer an approach for the…
On-Manifold Low-Thrust Rephasing of Quasi-Periodic Orbits
Ian M. Down, Manoranjan Majji, Kathleen C. Howell
A bi-level optimal control framework is introduced to solve the low-thrust re-phasing problem on quasi-periodic invariant tori in multi-body environments where deviations away from…
Direct Pseudospectral Optimal Control by Orthogonal Polynomial Integral Collocation
Thomas L. Ahrens, Ian M. Down, Manoranjan Majji
This paper details a methodology to transcribe an optimal control problem into a nonlinear program for generation of the trajectories that optimize a given functional by approximat…