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Full-Text Articles in Navigation, Guidance, Control and Dynamics
Vertical Take-Off And Landing Control Via Dual-Quaternions And Sliding Mode, Joshua Sonderegger
Vertical Take-Off And Landing Control Via Dual-Quaternions And Sliding Mode, Joshua Sonderegger
Doctoral Dissertations and Master's Theses
The landing and reusability of space vehicles is one of the driving forces into renewed interest in space utilization. For missions to planetary surfaces, this soft landing has been most commonly accomplished with parachutes. However, in spite of their simplicity, they are susceptible to parachute drift. This parachute drift makes it very difficult to predict where the vehicle will land, especially in a dense and windy atmosphere such as Earth. Instead, recent focus has been put into developing a powered landing through gimbaled thrust. This gimbaled thrust output is dependent on robust path planning and controls algorithms. Being able to …
Stochastic Model Predictive Control Via Fixed Structure Policies, Elias Wilson
Stochastic Model Predictive Control Via Fixed Structure Policies, Elias Wilson
Doctoral Dissertations and Master's Theses
In this work, the model predictive control problem is extended to include not only open-loop control sequences but also state-feedback control laws by directly optimizing parameters of a control policy. Additionally, continuous cost functions are developed to allow training of the control policy in making discrete decisions, which is typically done with model-free learning algorithms. This general control policy encompasses a wide class of functions and allows the optimization to occur both online and offline while adding robustness to unmodelled dynamics and outside disturbances. General formulations regarding nonlinear discrete-time dynamics and abstract cost functions are formed for both deterministic and …
Formation Control With Collision Avoidance For Fixed-Wing Unmanned Air Vehicles With Speed Constraints, Christopher Heintz
Formation Control With Collision Avoidance For Fixed-Wing Unmanned Air Vehicles With Speed Constraints, Christopher Heintz
Theses and Dissertations--Mechanical Engineering
Advances in the miniaturization of powerful electronic components and motors, the democratization of global navigation satellite systems (GNSS), and improvements in the performance, safety, and cost in lithium batteries has led to the proliferation of small and relatively inexpensive unmanned aerial vehicles (UAVs). Many of these UAVs are of the multi-rotor design, however, fixed-wing designs are often more efficient than rotary-wing aircraft, leading to a reduction in the power required for a UAV of a given mass to stay airborne. Autonomous cooperation between multiple UAVs would enable them to complete objectives that would be difficult or impossible for a single …