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Full-Text Articles in Navigation, Guidance, Control and Dynamics
Closely Supervised Reactive Control Of An Uninhabited Aerial Vehicle, Roy G. Glassco
Closely Supervised Reactive Control Of An Uninhabited Aerial Vehicle, Roy G. Glassco
Theses and Dissertations
Closely Supervised Reactive Control is an alternative control method for uninhabited aerial vehicles that incorporates some of the benefits of both manual and autonomous operations. Utilizing an onboard camera, an operator can control a UAV by manually choosing desired targets. The flight path of the uninhabited vehicle is determined autonomously from the camera gimbal angles. The operator of the payload (i.e. camera), has close supervision of the aircraft. The aircraft, using an onboard computer, is given autonomous control to alter flight path to fly towards a target and at a specified range, loiter over the target. In the basic mode …
Singularity Avoidance Strategies For Satellite Mounted Manipulators Using Attitude Control, Nathan A. Titus
Singularity Avoidance Strategies For Satellite Mounted Manipulators Using Attitude Control, Nathan A. Titus
Theses and Dissertations
Control concepts for satellite mounted manipulators (SMM) are examined. The primary focus is on base actuated concepts, which eliminate singularity problems associated with free floating SMMs. A new form of the equations of motion for an n-link SMM is developed using a quasi coordinate form of Lagrange's Equation. Alternative free floating SMM designs are presented which eliminate dynamic singularities, but still experience difficulties due to the unactuated base. A new generic SMM controller is developed as a framework for various control concepts with and without base actuation. Momentum constrained Jacobians are shown to produce better SMM tracking than fixed base …