4 papers
Continuous-time Constrained Funnel Synthesis for Incrementally Quadratic Nonlinear Systems
Taewan Kim, Dayou Luo, Behçet AçıkmeÅe
This paper presents a convex optimization-based framework for synthesizing time-varying controlled invariant funnels and associated feedback control around a given nominal trajecto…
Funnel Synthesis via LMI Copositivity Conditions for Nonlinear Systems
Taewan Kim, Behçet AçıkmeÅe
Funnel synthesis refers to a procedure for synthesizing a time-varying controlled invariant set and an associated control law around a nominal trajectory. The computation of the fu…
Onboard Dual Quaternion Guidance for Rocket Landing
Abhinav G. Kamath, Javier A. Doll, Purnanand Elango +8
The dual quaternion guidance (DQG) algorithm was selected as the candidate 6-DoF powered-descent guidance algorithm for NASA's Safe and Precise Landing -- Integrated Capabilities E…
Six-Degree-of-Freedom Aircraft Landing Trajectory Planning with Runway Alignment
Taewan Kim, Abhinav G. Kamath, Niyousha Rahimi +3
This paper presents a numerical optimization algorithm for generating approach and landing trajectories for a six-degree-of-freedom (6-DoF) aircraft. We improve on the existing res…