All papers. * co-first author, † corresponding author. ORCID →
The disturbance distribution is learned and used to tighten Tube-MPC constraints online. On a two-axis current-command gimbal (Intel N100 + CAN, 100 Hz), the 2-D pointing RMSE is 3.94 mrad, about 47% lower than nominal MPC, with zero current-limit activations and a worst-case solve time of 4.5 ms.
Periodic and non-periodic disturbances on an airborne inertially stabilized platform are separated with a physics-informed model and data-driven observers, then predicted and compensated inside MPC.
In staring mode, disturbances from different sources look like the same slow drift. Small aircraft maneuvers inside the field-of-view safety limits excite them, so they can be separated online and compensated separately.
Composite control for airborne electro-optical gimbals that separates disturbances in finer detail while respecting pointing constraints.
Spacecraft attitude control that separates composite actuator disturbances and exploits the usable part instead of cancelling all of it.
Maneuver control for spacecraft with reaction-wheel errors, based on separating composite disturbances and exploiting the usable part.