This paper addresses the problem of trajectory tracking for underactuated quadrotors. A quaternion based guidance law is proposed which feeds into an attitude control system based on a PD+ control law. The desired attitude from the guidance law is defined such that the attitude control system tries to align the position error along the axis of the translational actuator. Simulation results are ...

This paper presents a three dimensional guidance strategy for fixed-wing UAVs using quaternions. The algorithm is based on constructing two quaternions, one which makes the UAV fly towards the path and one that makes the UAV follow the path. These two quaternions are then blended together such that the path-following objective is reached. The guidance algorithm is applied to a simple kinematic model ...

This paper presents a complete solution to the problem of attitude determination and control for satellites in elliptical orbits. Specifically, it shows how to create the orbital mechanics, account for perturbing gravity torques, create a nonlinear PD+ attitude controller, map the control signal to desired thrust firings, implement magnetic field and Sun vector models, and how to implement a Madgwick ...

This paper presents a solution to autonomous inspection of the international space station using a rigid spacecraft. Specifically, the paper presents the orbital mechanics, formation dynamics as well as rotational dynamics required to control the spacecraft relative to the space station, and then presents two PD+ controllers enabling a spacecraft to track a series of waypoints while pointing a sensor ...

Interactive computer based geometry editing is very useful for designers and artists. Our goal has been to develop useful tools for geometry editing in a way that increases the ability for creative design. When we interactively editing geometry, we want to see the change happening gradually and smoothly on the screen. Pre-evaluation is a tool for increasing the speed of the graphics when doing ...

In order to survive in this competitive and ever changing market, manufacturers have to improve and enhance the competitiveness, flexibility, responsiveness and sustainability with the application of the cutting-edge technologies and innovative management methods. New concepts, i.e., Intelligent manufacturing, flexible manufacturing, agile manufacturing, network manufacturing, green manufacturing ...