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This paper presents a robust attitude coordination methodology for multiple-team spacecraft formation(MTSF) in presence of control input saturation. The main idea is to construct a novel sliding mode surface with a tunable vector having the following two properties: 1) the gradient of the tunable vector is related to saturation constraints; 2) the tunable vector has consensus-like property related...
In this paper, we tackle the problem of trajectory tracking for a particular class of underactuated vehicles with full torque actuation and a single force direction (thrust) that is fixed relative to a body attached frame. Additionally, we consider that thrust reversal is not available. We present the design of a hybrid controller that, under some given assumptions, is able to globally asymptotically...
In this paper, a systematic procedure for designing Position Tracking controllers for Unmanned Helicopters, based on mature H2/H∞ methodologies, is presented. Firstly, a family of linearized models describing the near-hover flight dynamics is derived which can be formulated as a nominal plant perturbed by norm bounded uncertainties on the system, control and disturbance (wind gust) matrices. The full...
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