{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2014:MBFDQ7PPZKOEKKNTGCSXABDDTB","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"bd3da7ce6a0efe8fafe888fb3768dcb94544efd4cd17f81c6e8a9565e97b9d30","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2014-11-03T13:23:48Z","title_canon_sha256":"80ea7ad4889fff79f332a2cb837d867696d74f500db259176d0c49d75387dfb7"},"schema_version":"1.0","source":{"id":"1411.0479","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1411.0479","created_at":"2026-05-18T02:29:10Z"},{"alias_kind":"arxiv_version","alias_value":"1411.0479v2","created_at":"2026-05-18T02:29:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1411.0479","created_at":"2026-05-18T02:29:10Z"},{"alias_kind":"pith_short_12","alias_value":"MBFDQ7PPZKOE","created_at":"2026-05-18T12:28:38Z"},{"alias_kind":"pith_short_16","alias_value":"MBFDQ7PPZKOEKKNT","created_at":"2026-05-18T12:28:38Z"},{"alias_kind":"pith_short_8","alias_value":"MBFDQ7PP","created_at":"2026-05-18T12:28:38Z"}],"graph_snapshots":[{"event_id":"sha256:844ef4268f1ffe202fa8f4681d4511ae59ed6b0d0a9b16abd23dbae2cf8344a2","target":"graph","created_at":"2026-05-18T02:29:10Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"paper":{"abstract_excerpt":"The paper develops a Model Predictive Controller for constrained control of spacecraft attitude with reaction wheel actuators. The controller exploits a special formulation of the cost with the reference governor like term, a low complexity addition of integral action to guarantee offset-free tracking of attitude set points, and an online optimization algorithm for the solution of the Quadratic Programming problem which is tailored to run in fixed-point arithmetic. Simulations on a nonlinear spacecraft model demonstrate that the MPC controller achieves good tracking performance while satisfyin","authors_text":"Alberto Bemporad, Alberto Guiggiani, Ilya Kolmanovsky, Panagiotis Patrinos","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2014-11-03T13:23:48Z","title":"Fixed-Point Constrained Model Predictive Control of Spacecraft Attitude"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1411.0479","kind":"arxiv","version":2},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:3b40a8e39bd2e3c4152b0c0484e856fbedc8005b703a47a4df851ba51a5ff1ba","target":"record","created_at":"2026-05-18T02:29:10Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"bd3da7ce6a0efe8fafe888fb3768dcb94544efd4cd17f81c6e8a9565e97b9d30","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2014-11-03T13:23:48Z","title_canon_sha256":"80ea7ad4889fff79f332a2cb837d867696d74f500db259176d0c49d75387dfb7"},"schema_version":"1.0","source":{"id":"1411.0479","kind":"arxiv","version":2}},"canonical_sha256":"604a387defca9c4529b330a570046398735b1dd976defb7ecdf4e0746506fbb1","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"604a387defca9c4529b330a570046398735b1dd976defb7ecdf4e0746506fbb1","first_computed_at":"2026-05-18T02:29:10.382264Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T02:29:10.382264Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"aL+fskPzOGoPHe+t54EC2dU7TxDR06EFUSHLALsF8sIvOQSSOu0KBN40I+npC+ppE2sbRozve81+SNN6kOHqBg==","signature_status":"signed_v1","signed_at":"2026-05-18T02:29:10.382978Z","signed_message":"canonical_sha256_bytes"},"source_id":"1411.0479","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3b40a8e39bd2e3c4152b0c0484e856fbedc8005b703a47a4df851ba51a5ff1ba","sha256:844ef4268f1ffe202fa8f4681d4511ae59ed6b0d0a9b16abd23dbae2cf8344a2"],"state_sha256":"f0a17a3681a56cd3261d9239e0ae0a84d9b43d326b8116d2d807b6808f7aea90"}