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Articles 1111 - 1140 of 1185

Full-Text Articles in Navigation, Guidance, Control and Dynamics

Model Predictive Control Of A Parafoil And Payload System, Nathan Slegers, Mark Costello Jan 2005

Model Predictive Control Of A Parafoil And Payload System, Nathan Slegers, Mark Costello

Faculty Publications - Biomedical, Mechanical, and Civil Engineering

No abstract provided.

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Performance Analysis And Validation Of A Recoverable Flight Control System In A Simulated Neutron Environment, Hong Zhang, W. Steven Gray, Oscar R. Gonzalez Jan 2005

Performance Analysis And Validation Of A Recoverable Flight Control System In A Simulated Neutron Environment, Hong Zhang, W. Steven Gray, Oscar R. Gonzalez

Electrical & Computer Engineering Faculty Publications

This paper introduces a class of stochastic hybrid models for the analysis of closed-loop control systems implemented with NASA's Recoverable Computer System. Such Recoverable Computer Systems have been proposed to insure reliable control performance in harsh environments. The stochastic hybrid models consist of either a stochastic finite-state automaton or a finite-state machine driven by a Markov input, which in turn drives a switched linear discrete-time dynamical system. Their stability and output tracking performance are analyzed using an extension of the existing theory for Markov jump-linear systems. For illustration, a stochastic hybrid model is used to calculate the tracking error performance …

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Swing-Up And Balancing Nonlinear Control For A Rotational Inverted Pendulum, Jiang Wang Oct 2004

Swing-Up And Balancing Nonlinear Control For A Rotational Inverted Pendulum, Jiang Wang

Mechanical & Aerospace Engineering Theses & Dissertations

In this thesis, nonlinear controllers are designed for the swing-up and balance modes of a rotational inverted pendulum, which is a pendulum hinged on a horizontally rotating link. The proposed control algorithms are designed by partial feedback linearization and sliding mode control techniques, for swing-up and balancing respectively. First a mathematical model of the pendulum dynamics is derived, followed by experimental verification. Then the system model is partially linearized, which makes it possible for the system to track a simple desired trajectory with "pump energy" function. Then a swing-up controller is designed. For an under-actuated mechanical system, like the inverted …

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Controlling The Primary Mirror In A Space-Based Telescope Utilizing An Eigenstructure Assignment Technique, Kim Kyongsoo Mar 2004

Controlling The Primary Mirror In A Space-Based Telescope Utilizing An Eigenstructure Assignment Technique, Kim Kyongsoo

Theses and Dissertations

The feasibility of using a sparse array of mirrors in a satellite system is being evaluated. This study focused on the control laws necessary for achieving the minimization of the effect of vibration which happens at the primary mirror of the satellite, by using the eigenstructure assignment technique. White Gaussian noise was assumed as the external input. AFRL has developed a 79 state model with 9 control inputs and 9 outputs, 3 sparse array mirrors, and a base. To extend the theory, a simplified model with 2 mirrors and a base which has 12 states, 4 control inputs and 8 …

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Outside Loop Control In Asymmetrical Trimmed Flight Conditions, Gary D. Miller Feb 2004

Outside Loop Control In Asymmetrical Trimmed Flight Conditions, Gary D. Miller

Theses and Dissertations

Traditionally flight control systems have used linearized equations of motion solved around a single trim point. This thesis proposes a nested-loop controller directly solved from the equations of motion. The control equations were developed as a solution to asymmetrically trimmed flight conditions. A two-loop design was proposed for the controller. The outer loop modeled the aircraft as a point mass and all forces were balanced to find the aircraft states. The equations input the control variables and output the aircraft states. The inner-loop utilizes the six-degree of freedom model of the aircraft to solve the moment equations. With the input …

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Cooperative Control Simulation Validation Using Applied Probability Theory, Christopher S. Schulz Sep 2003

Cooperative Control Simulation Validation Using Applied Probability Theory, Christopher S. Schulz

Theses and Dissertations

Several research simulations have been created to support development and refinement of teamed autonomous agents using decentralized cooperative control algorithms. Simulation is the necessary tool to evaluate the performance of decentralized cooperative control algorithms, however these simulations lack a method to validate their output. This research presents a method to validate the performance of a decentralized cooperative control simulation environment for an autonomous Wide Area Search Munition (WASM). Rigorous analytical methods for six wide area search and engagement scenarios involving Uniform, Normal, and Poisson distributions of N real targets and M false target objects are formulated to generate expected numbers …

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Design And Development Of A Low-Cost High Range Resolution X-Band Radar, Paul C. Cantu Aug 2003

Design And Development Of A Low-Cost High Range Resolution X-Band Radar, Paul C. Cantu

Department of Electrical and Computer Engineering: Dissertations, Theses, and Student Research

Synthetic Aperture Radar (SAR) is one of the main tools for microwave remote sensing because of its multi-dimensional high resolution characteristics and the capability to operate in nearly all weather conditions, day and night. The University of Nebraska-Lincoln (UNL) initiated the design and development of a low-cost airborne SAR in January 2001 to support our Airborne Remote Sensing Program. The objectives of this project are separated into various evolutionary stages. This thesis will focus on the initial phase of design and construction of an X-band high range resolution radar (HRR) using basic RF /microwave and digital components. The following stages …

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Application Of Maneuver-Based Control In Variable Autonomy Unmanned Combat Aerial Vehicles, Alexander M. G. Walan Mar 2003

Application Of Maneuver-Based Control In Variable Autonomy Unmanned Combat Aerial Vehicles, Alexander M. G. Walan

Theses and Dissertations

The rise in the capability and lethality of unmanned combat aerial vehicles (UCAVs) historically has been paralleled by an increase in the complexity of the command and control of these systems. This trend has continued with the command and control of the current fleet of unmanned aerial vehicles such as the Predator and Global Hawk. The control of these vehicles falls on the extremes on the manual vs autonomous spectrum. As the missions tasked to these vehicles increase in complexity and lethality, operators will increasingly require the ability to tailor the amount of control exercised over the vehicle. Maneuver Based …

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Tightly-Coupled Image-Aided Inertial Navigation System Via A Kalman Filter, Michael G. Giebner Mar 2003

Tightly-Coupled Image-Aided Inertial Navigation System Via A Kalman Filter, Michael G. Giebner

Theses and Dissertations

Inertial navigation systems and GPS systems have revolutionized the world of navigation. Inertial systems are incapable of being jammed and are the backbone of most navigation systems. GPS is highly accurate over long periods of time, and it is an excellent aid to inertial navigation systems. However, as a military force we must be prepared to deal with the denial of the GPS signal. This thesis seeks to determine it, via simulation, it is viable to aid an INS with visual measurements.

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A Comparison Of Nonlinear Algorithms To Prevent Pilot-Induced Oscillations Caused By Actuator Rate Limiting, James G. Hanley Mar 2003

A Comparison Of Nonlinear Algorithms To Prevent Pilot-Induced Oscillations Caused By Actuator Rate Limiting, James G. Hanley

Theses and Dissertations

The objective of this study was to compare the ability of the Feedback-with-Bypass (FWB) and the Derivative-Switching (DS) flight control system filters to prevent PIO during actuator rate limiting, and the filters' effects on aircraft handling qualities. This comparison was conducted in three steps: computer simulation, ground simulation in the Large Amplitude Multimode Aerospace Research Simulator (LAMARS), and flight tests conducted in the Variable Stability In-flight Simulator Test Aircraft (VISTA). During computer simulation, the FWB filter better reduced the phase lag and prevented sustained or divergent oscillations during the closed-loop analysis. During both ground simulation and flight tests, the FWB …

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A Study Of Control Laws For Microsatellite Rendezvous With A Non-Cooperative Target, Troy A. Tschirhart Mar 2003

A Study Of Control Laws For Microsatellite Rendezvous With A Non-Cooperative Target, Troy A. Tschirhart

Theses and Dissertations

This study investigated the feasibility of using a microsatellite to accomplish an orbital rendezvous with a noncooperative target, with a focus on the control laws necessary for achieving such a rendezvous. The relative motions of the microsatellite and the target satellite are described using Hill's equations. The results of an investigation of two different controller methodologies show that an impulsive thrust controller based on the Clohessey-Wiltshire solution used little fuel, but was not very robust. A continuous thrust controller using a Linear Quadratic Regulator was found to be more robust, but used much more fuel. As a final solution, a …

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Development And Simulation Of A Pseudolite-Based Flight Reference System, Terry J. Bouska Mar 2003

Development And Simulation Of A Pseudolite-Based Flight Reference System, Terry J. Bouska

Theses and Dissertations

Current flight reference systems are vulnerable to GPS jamming and also lack the accuracy required to test new systems. Pseudolites can augment flight reference systems by improving accuracy, especially in the presence of GPS jamming. This thesis evaluates a pseudolite-based flight reference system which applies and adapts carrier-phase differential GPS techniques. The algorithm developed in this thesis utilizes an extended Kalman filter along with carrier-phase ambiguity resolution techniques. A simulation of the pseudolite-based positioning system realistically models measurement noise, multipath, pseudolite position errors, and tropospheric delay. A comparative evaluation of the algorithms performance for single and widelane frequency measurements is …

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Ins Aiding Using Passive, Bearings-Only Measurements Of An Unknown Stationary Ground Object, Alec E. Porter Mar 2003

Ins Aiding Using Passive, Bearings-Only Measurements Of An Unknown Stationary Ground Object, Alec E. Porter

Theses and Dissertations

The theory for Inertial Navigation System (INS) aiding using passive, bearings only measurements of an unknown stationary ground object, in the vein of optical flow measurement, is developed. Stand-alone bearings-only measurements over time of an unknown, but stationary, ground object are shown to yield estimates of the aircraft’s aerodynamic angles, viz., the angle of attack and sideslip angle. Two new equations containing the aircraft’s angular navigation variables ψ, θ, φ, γ, H, and the aerodynamic angles are derived. This allows an update of the aircraft’s attitude, thus making INS aiding using passive, bearings-only measurements possible. Moreover, the use of stadiametry, …

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Aspects Of Control For A Parafoil And Payload System, Nathan Slegers, Mark Costello Jan 2003

Aspects Of Control For A Parafoil And Payload System, Nathan Slegers, Mark Costello

Faculty Publications - Biomedical, Mechanical, and Civil Engineering

A parafoil controlled by parafoil brake deflection offers a lightweight and space-efficient control mechanism for autonomous placement of air-dropped payloads to specified ground coordinates. The work reported here investigates control issues for a parafoil and payload system with left and right parafoil brakes used as the control mechanism. It is shown that parafoil and payload systems can exhibit two basic modes of lateral control, namely,roll and skid steering. These two modes of lateral steering generate lateral response in opposite directions. For example, a roll steer configuration turns left when the right parafoil brake is activated, whereas a skid steer configuration …

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An Experimental Investigation Of Direct And Indirect Viewing Of A Remote Manipulation, Stephen N. Plishka Jul 2002

An Experimental Investigation Of Direct And Indirect Viewing Of A Remote Manipulation, Stephen N. Plishka

Master's Theses - Daytona Beach

The purpose of this study was to evaluate direct and indirect viewing of a remote manipulation. With continued exploration of inner and outer space, the ability to directly manipulate objects is lost due to the nature of operating in harsh environments. Remote viewing and operation of equipment is used in such things as the space shuttle manipulator arm, orthoscopic surgery, undersea exploration, and hazardous material management. Most of these operations do not have the luxury of direct viewing. This study will compare the effects of direct viewing vs. indirect viewing from three different viewing distances of 20cm, 60cm and 100cm.

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Analysis Of Error Recovery Effects On Digital Flight Control Systems, Arturo Tejada Ruiz Jul 2002

Analysis Of Error Recovery Effects On Digital Flight Control Systems, Arturo Tejada Ruiz

Electrical & Computer Engineering Theses & Dissertations

Life-critical, real-time applications like flight-by-wire aircraft, rely on closed-loop digital control systems and fault-tolerant computer systems to reliably achieve the desired operation. The computer systems, however, may be affected by random hardware/software faults induced mainly by environmental conditions such as high intensity radiated fields (HIRF) and lightning. These harsh electromagnetic environments are known to induce common­ mode faults (CMF) in aircraft electronic systems, which disrupt fault-tolerant provisions and possibly affect the operation of the digital control system. Current flight-by-wire aircraft have computer systems that can neither detect CMF nor recover from them. New systems are under investigation that can recover …

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Systematic Methods For The Design Of A Class Of Fuzzy Logic Controllers, Saad Y. Yasin Apr 2002

Systematic Methods For The Design Of A Class Of Fuzzy Logic Controllers, Saad Y. Yasin

Dissertations

Fuzzy logic control, a relatively new branch of control, can be used effectively whenever conventional control techniques become inapplicable or impractical. Various attempts have been made to create a generalized fuzzy control system and to formulate an analytically based fuzzy control law. In this study, two methods, the left and right parameterization method and the normalized spline-base membership function method, were utilized for formulating analytical fuzzy control laws in important practical control applications. The first model was used to design an idle speed controller, while the second was used to control an inverted control problem. The results of both showed …

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Broadcast Vs Precise Gps Ephemerides: A Historical Perspective, David L. M. Warren Mar 2002

Broadcast Vs Precise Gps Ephemerides: A Historical Perspective, David L. M. Warren

Theses and Dissertations

In most recent years, both high-resolution imagery systems and images were only available to military and national security organizations. Distinctive changes within the commercial image industry allowed space-borne pioneers to provide high-resolution images. Space-borne Image Company's Ikonos satellite provides a 1-meter resolution for the past 3 years. Current development of .5-meter resolution will be offered in the near future. Access of these images is available in ground stations located worldwide in different regions. Studies have shown that these high quality images are eye-catching and may serve a purpose through its design; on contrary high cost and accessibility does not met …

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Ins Aiding By Tracking An Unknown Ground Object, Mursy Polat Mar 2002

Ins Aiding By Tracking An Unknown Ground Object, Mursy Polat

Theses and Dissertations

The reduction of the navigation error in an inertial navigation system by optically tracking a ground object is investigated. Multiple observations of the ground object are used. The location of the ground object is assumed unknown. A careful analysis of the measurement situation at hand reveals that by optically tracking an unknown ground object using passive, bearings-only measurements, the aircraft's angle of attack and sideslip angle can be measured. Thus, two new independent measurement equations featuring the aircraft's angular navigation variables are obtained. Hence, by optically tracking over time an unknown ground object, inertial navigation system aiding is in fact …

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An Examination Of Latency And Degradation Issues In Unmanned Combat Aerial Vehicle Environments, Shane A. Dougherty Mar 2002

An Examination Of Latency And Degradation Issues In Unmanned Combat Aerial Vehicle Environments, Shane A. Dougherty

Theses and Dissertations

Since the multidimensional knapsack problems are NP-hard problems, the exact solutions of knapsack problems often need excessive computing time and storage space. Thus, heuristic approaches are more practical for multidimensional knapsack problems as problems get large. This thesis presents the results of an empirical study of the performance of heuristic solution procedures based on the coefficients correlation structures and constraint slackness settings. In this thesis, the three representative greedy heuristics, Toyoda, Senju and Toyoda, and Loulou and Michaelides methods, are studied. The purpose of this thesis is to explore which heuristic of the three representative greedy heuristics perform best under …

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Flight Control Failure Detection And Control Redistribution Using Multiple Model Adaptive Estimation With Filter Spawning, Michael L. Torres Jr. Mar 2002

Flight Control Failure Detection And Control Redistribution Using Multiple Model Adaptive Estimation With Filter Spawning, Michael L. Torres Jr.

Theses and Dissertations

In the current research, the MMAE with Filter Spawning and Control Redistribution (MMAE/FS/CR) are used together to identify failures and apply appropriate corrections. This effort explores the performance of the MMAE/FS/CR in different regions of the flight envelope using model and gain scheduling. The MMAE/FS/CR is able to detect complete and partial actuator/surface failures, as well as complete sensor failures. Once the actuator/surface failure is identified and the effectiveness is determined in the case of partial failures, proper control is applied in order to accomplish the desired pilot command. Improvements in the algorithm are required in order to enhance the …

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Air Vehicle Path Planning, Jeffrey M. Hebert Dec 2001

Air Vehicle Path Planning, Jeffrey M. Hebert

Theses and Dissertations

This dissertation explores optimal path planning for air vehicles. An air vehicle exposed to illumination by a tracking radar is considered and the problem of determining an optimal planar trajectory connecting two prespecified points is addressed. An analytic solution yielding the trajectory minimizing the received radar energy reflected from the target is derived using the Calculus of Variations. Additionally, the related problem of an air vehicle tracked by a passive sensor is also solved. Using the insights gained from the single air vehicle radar exposure minimization problem, a hierarchical cooperative control law is formulated to determine the optimal trajectories that …

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Optimal Aeroelastic Vehicle Sensor Placement For Root Migration Flight Control Applications, Abdul Ghafoor Al-Shenhabi Jul 2001

Optimal Aeroelastic Vehicle Sensor Placement For Root Migration Flight Control Applications, Abdul Ghafoor Al-Shenhabi

Mechanical & Aerospace Engineering Theses & Dissertations

An important step in control design for elastic systems is the determination of the number and location of control system components, namely sensors. The number and placement of sensors can be critical to the robust functioning of active control systems, especially when the system of interest is a large high-speed aeroelastic vehicle. The position of the sensors affects not only system stability, but also the performance of the closed-loop system. In this dissertation, a new approach for sensor placement in the integrated rigid and vibrational control of flexible aircraft structures is developed. Traditional rigid-body augmentation objectives are addressed indirectly through …

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Adaptive And Reconfigurable Flight Control, Yih Shiun Huang Mar 2001

Adaptive And Reconfigurable Flight Control, Yih Shiun Huang

Theses and Dissertations

An indirect adaptive and reconfigurable flight control system is developed. The three-module controller consists of: (1) a system identification module, (2) a parameter estimate smoother, and (3) a proportional and integral compensator for tracking control. Specifically: (1) The identification of a linear discrete-time control system's open-loop gain is addressed. The classical Kalman filter theory for linear control systems is extended and the control system's state and loop gain are jointly estimated on-line. Explicit formulae for the loop gain's estimate and estimation error covariance are derived. The estimate is unbiased and the predicted covariance is reliable. (2) An adaptive smoother is …

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Development And Testing Of A Multiple Filter Approach For Precise Dgps Positioning And Carrier-Phase Ambiguity Resolution, Paul E. Henderson Mar 2001

Development And Testing Of A Multiple Filter Approach For Precise Dgps Positioning And Carrier-Phase Ambiguity Resolution, Paul E. Henderson

Theses and Dissertations

The most precise relative positioning obtained using differential GPS depends on accurately determining carrier-phase integer ambiguities. To achieve high precision, many current static and kinematic algorithms use a floating-point solution until enough information becomes available to fix the carrier-phase ambiguities accurately. A mew method is presented that uses a multiple model Kalman filter to resolve the carrier-phase integer ambiguities. This method starts with the floating-point results, yet smoothly and rapidly attains the precision of the correct fixed-integer solution, eliminating the need to decide when to switch from the floating to the fixed-integer solution. This method is based on a theoretically …

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Phugoid Damping Control, Nicolas J. Schindeler Mar 2001

Phugoid Damping Control, Nicolas J. Schindeler

Theses and Dissertations

A novel phugoid damping control design methodology is developed, based on the use of wind axes and a point-mass aircraft model. The state variables are air speed, flight path angle, and heading angle, the control variables are thrust setting, angle of attack, bank angle, and sideslip angle, and the command signals are airspeed, flight path angle, and heading angle or heading rate. All the variables and parameters are nondimensionalized. A multivariable set point controller is developed which consists of: (1) a trim calculation-based nonlinear feed-forward control computer; thus, given a commanded new trim state (air speed, flight path angle, and …

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Unmanned Research Vehicle (Urv): Development, Implementation, & Flight Test Of A Mimo Digital Flight Control System Designed Using Quantitative Feedback Theory, Constantine H. Houpis, Steven J. Rasmussen Apr 2000

Unmanned Research Vehicle (Urv): Development, Implementation, & Flight Test Of A Mimo Digital Flight Control System Designed Using Quantitative Feedback Theory, Constantine H. Houpis, Steven J. Rasmussen

Faculty Publications

The Quantitative Feedback Theory (QFT) design technique, which has the ability to bridge the gap between theory and the real-world control design problem, is utilized in the design of a MIMO digital flight control system for an unmanned research vehicle (URV) that is presented in this paper. The design illustrates how the real-world knowledge of the plant to be controlled and the desired performance specifications can be utilized in trying to achieve a successful robust design for a nonlinear control problem. This paper presents some of the issues involved in developing, implementing, and flight testing a flight control system (FCS) …

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Three Dimensional Formation Flight Control, James K. Hall Mar 2000

Three Dimensional Formation Flight Control, James K. Hall

Theses and Dissertations

Automating the control of an aircraft flying in formation necessitates the extension of the theory of formation flight control to allow for three dimensional maneuvers. The formation was modeled as a two-aircraft, leader and wingspan, formation. Both aircraft has its own three dimensional, rotating and translating, Cartesian axes system, with special attention being given to the motion of the leader in relation to the wingspan. The controller operated using the equations of motion expressed in the rotating reference frame of the wing aircraft. The control system has seven states, three inputs and three disturbance signals to model the dynamics of …

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Long-Term Aircraft Structural Integrity Prediction Under The Influence Of Feedback Control, Si-Bok Yu Oct 1999

Long-Term Aircraft Structural Integrity Prediction Under The Influence Of Feedback Control, Si-Bok Yu

Mechanical & Aerospace Engineering Theses & Dissertations

This thesis investigates the influence of feedback control, and other factors associated with loading characteristics, on fatigue damage reduction and long-term integrity of aircraft structural components. An actively controlled flexible aircraft model and a new state space modeling procedure for crack growth are utilized to uncover important factors which influence airframe crack growth. A matrix of simulation test cases is constructed to cover such variables as open-loop operation, nominal closed-loop operation, perturbed closed-loop operation (i.e., feedback gain variation), nominal maneuver profile, perturbed maneuver profile (including overload strength and frequency), atmospheric gust, and mean stress level. Simulation output data including crack …

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Closely Supervised Reactive Control Of An Uninhabited Aerial Vehicle, Roy G. Glassco Jun 1999

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 …

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