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Articles 1 - 10 of 10
Full-Text Articles in Navigation, Guidance, Control and Dynamics
Initial Development Of Cooperative Aerial And Ground Vehicles Experimental Testbed, Javier S. Robinson, Morad Nazari
Initial Development Of Cooperative Aerial And Ground Vehicles Experimental Testbed, Javier S. Robinson, Morad Nazari
Beyond: Undergraduate Research Journal
Heterogeneous multi-agent systems represents a growing area of research in autonomous vehicles, which involves the real-time cooperation of vehicles operating under different roles or dynamical mod- els. While there is plenty of theoretical work, the existing experimental research focuses on cooperation between physically identical vehicles. This is likely because testing heterogeneous vehicles naturally in- volves more complicated dynamics and communication frameworks to ensure compatibility. The goal of the Cooperative Aerial and Ground Vehicles Experimental (CAGE) testbed is to develop an experimen- tal testbed that involves cooperation of two distinct vehicle models: multiple Crazyflie 2.1 quadcopter drones and at least one …
Robust Spacecraft Autonomy For Deep Space Exploration In Special Euclidean Group Se(3), Matthew Wittal
Robust Spacecraft Autonomy For Deep Space Exploration In Special Euclidean Group Se(3), Matthew Wittal
Doctoral Dissertations and Master's Theses
Over the past half-century, humanity has gained extensive experience conducting manned spaceflight near Earth. Arguably, "near Earth" could even include the Moon — the most distant destination humans have reached. However, "near" in this work primarily refers low Earth orbit (LEO). One could argue that we have not truly left Earth since the Apollo, as spacecraft in some LEOs remain subject to atmospheric drag thus emphasizing their continued connection to Earth's immediate environment. Reflecting on this, it becomes clear that humanity has largely remained bound to Earth’s immediate vicinity since the Apollo missions reached the Moon. However, that is set …
Sliding Mode Control With Chattering Reduction, Suryamshu Ramesh
Sliding Mode Control With Chattering Reduction, Suryamshu Ramesh
Doctoral Dissertations and Master's Theses
Sliding Mode Control is a powerful nonlinear control methodology that can handle parametric uncertainties and external disturbances. However, the discontinuous and high-frequency switching nature of the control law introduces the chattering phenomenon, which leads to potential actuator degradation, alterations to the desired response characteristics and, sometimes, instability during control implementation. The main objective of this thesis is to study Sliding Mode Control with chattering reduction. The Sliding Mode Control law involves an equivalent control component and a discontinuous control component. A disturbance estimation is performed based on Lyapunov analysis and adaptive control techniques and then included in the control law …
Automatic Mass Balancing Of A Spacecraft Attitude Dynamics Simulator With Six Sliding Masses, Amelia J. Gilman
Automatic Mass Balancing Of A Spacecraft Attitude Dynamics Simulator With Six Sliding Masses, Amelia J. Gilman
Master's Theses
The goal of this thesis is to investigate automatic mass balancing methods for spacecraft attitude dynamics simulators, create a hardware design for a mass balancing system, and assemble the hardware on the Cal Poly Spacecraft Attitude Dynamics Simulator (SADS). Spacecraft attitude dynamics simulators replicate the torque-free environment of space with ground-based hardware. The SADS is mounted on a spherical air bearing, and includes a pyramid of four reaction wheels. The air bearing allows frictionless, unbounded rotation about the vertical axis, and 30 degrees about the horizontal axes. The torque-free configuration of the SADS can be used to test spacecraft attitude …
Adaptive Control For A Class Of Nonlinear, Time Varying Rotational Systems, John Zelina
Adaptive Control For A Class Of Nonlinear, Time Varying Rotational Systems, John Zelina
Doctoral Dissertations and Master's Theses
Aerospace systems often exhibit nonlinear, time varying dynamics. Expansive mission profiles, fuel burn or transfer and payload deployments or slung loads can supply additional complexity that can excite the plant dynamics and result in undesirable performance. Because of these often unknown dynamical effects in aerospace systems, an emphasis is placed on controller robustness as significant safety risks are present. Due to the difficulty of predicting uncertainties, robust control can be achieved in two distinct ways. The first approach is to design a control law to be tolerant to a large amount of uncertainty, and the second is to design a …
Dynamic Analysis Of Cubesat Impact On Lunar Surface, Dalton C. Korczyk
Dynamic Analysis Of Cubesat Impact On Lunar Surface, Dalton C. Korczyk
Doctoral Dissertations and Master's Theses
EagleCam is a pico-satellite (CubeSat) with dimensions of 100 x 100 x 150 mm3 that is going to the moon as a payload of the Intuitive Machines Nova-C lunar lander. The CubeSat’s purpose is to record the lunar landing from a 3rd person view. Unlike other CubeSats, EagleCam is designed to impact the lunar surface and there is no history to build off of. Specifically, EagleCam will need to survive a 30 m drop onto the lunar surface with all internal components fully operational post impact. This thesis is focused on the analytical, numerical, and experimental methods for determining the …
A Study On The Control, Dynamics, And Hardware Of Micro Aerial Biomimetic Flapping Wing Vehicles, Siara Hunt
A Study On The Control, Dynamics, And Hardware Of Micro Aerial Biomimetic Flapping Wing Vehicles, Siara Hunt
Doctoral Dissertations and Master's Theses
Biological flight encapsulates 400 million years of evolutionary ingenuity and thus is the most efficient way to fly. If an engineering pursuit is not adhering to biomimetic inspiration, then it is probably not the most efficient design. An aircraft that is inspired by bird or other biological modes of flight is called an ornithopter and is the original design of the first airplanes. Flapping wings hold much engineering promise with the potential to produce lift and thrust simultaneously. In this research, modeling and simulation of a flapping wing vehicle is generated. The purpose of this research is to develop a …
The Stability And Control Of The Single Track Vehicles, Shyngys Karimov, Martin Corless
The Stability And Control Of The Single Track Vehicles, Shyngys Karimov, Martin Corless
The Summer Undergraduate Research Fellowship (SURF) Symposium
Bicycles, motorcycles and scooters are all examples of the single track vehicles. The dynamics of the single track vehicle involve many degrees of freedom and various modes which govern its performance, making a complicated and interesting research topic. Motorcycle in motion can roll, yaw, and steer about the steering axis. It has three main modes which determine the motion and stability of it, they are weave, capsize, and wobble. The motorcycle performance is limited by the behavior of its modes, and if even one of the modes becomes unstable, the vehicle will roll over, and crash. The goal of this …
Dynamics And Control Of Higher-Order Nonholonomic Systems, Jaime Rubio HerváS
Dynamics And Control Of Higher-Order Nonholonomic Systems, Jaime Rubio HerváS
Doctoral Dissertations and Master's Theses
A theoretical framework is established for the control of higher-order nonholonomic systems, defined as systems that satisfy higher-order nonintegrable constraints. A model for such systems is developed in terms of differential-algebraic equations defined on a higher-order tangent bundle. A number of control-theoretic properties such as nonintegrability, controllability, and stabilizability are presented. Higher-order nonholonomic systems are shown to be strongly accessible and, under certain conditions, small time locally controllable at any equilibrium. There are important examples of higher-order nonholonomic systems that are asymptotically stabilizable via smooth feedback, including space vehicles with multiple slosh modes and Prismatic-Prismatic-Revolute (PPR) robots moving open liquid …
Determination Of Human Powered Helicopter Stability Characteristics Using Multi-Body System Simulation Techniques, Sean M. Brown
Determination Of Human Powered Helicopter Stability Characteristics Using Multi-Body System Simulation Techniques, Sean M. Brown
Master's Theses
Multi-Body System Simulation combined with System Identification was developed as a method for determining the stability characteristics of a human powered helicopter(HPH) configurations. HPH stability remains a key component for meeting competition requirements, but has not been properly treated. Traditional helicopter dynamic analysis is not suited to the HPH due to its low rotation speeds and light weight. Multi-Body System Simulation is able to generate dynamic response data for any HPH configuration. System identification and linear stability theory are used to determine the stability characteristics from the dynamic response. This thesis focuses on the method development and doesn't present any …