This paper first derives the full equations of motion for relative navigation of air vehicles. An extended Kalman filter is used for estimating the relative position and attitude of two air vehicles, designated leader and follower. All leader states are assumed known, while the relative states are estimated using line-of-sight measurements between the vehicles along with acceleration and angula...

Here Modified Rodrigues Parameters (MRPs) are used for an implementation that avoids making a small angle approximation for the attitude ambiguity. The direct averaging of MRPs is inaccurate because the distance metric between two MRPs is nonlinear to second order. However, the distance metric between two quaternions can be shown to be linear with the addition of a unit norm constraint on the q...

In this paper we present a PID+ solution to the problem of relative translational and rotational tracking, using the concept of integrator backstepping. By using an integrator augmentation technique, we include integral effect in the controller to account for the unknown orbital perturbations. The controller solution utilizes the quaternion representation to achieve a shorter rotation path on c...

This article addresses the challenge of attitude synchronization a group rigid bodies (considered to be agents) with zero final angular velocity. A collaborative control strategy is proposed tackle this issue, using decentralized consensus within leader-follower scheme, and communication between agents activated by events. The parameterized unit quaternion. law incorporates an event function sp...

In this article, the optimal attitude consensus control problem of distributed spacecraft formation through local information exchange is solved in presence parameter uncertainty and disturbance. The dynamics model rigid established based on unit quaternion under an undirected graph. Then, scheme Lyapunov functions adopted for formation. approach to construct appropriate function multiple devel...

This work is focused on impedance control of robot manipulators performing six-degree-of-freedom interaction tasks. An energy-based formulation leads to formally deriving the dynamic equation characterizing a mechanical impedance at the end effector. An inverse dynamics strategy with contact force and moment measurement is adopted to obtain a configurationindependent desired impedance. For give...