To see the other types of publications on this topic, follow the link: Guidance and Control Algorithm Design.
Dissertations / Theses on the topic 'Guidance and Control Algorithm Design'
Create a spot-on reference in APA, MLA, Chicago, Harvard, and other styles
Consult the top 50 dissertations / theses for your research on the topic 'Guidance and Control Algorithm Design.'
Next to every source in the list of references, there is an 'Add to bibliography' button. Press on it, and we will generate automatically the bibliographic reference to the chosen work in the citation style you need: APA, MLA, Harvard, Chicago, Vancouver, etc.
You can also download the full text of the academic publication as pdf and read online its abstract whenever available in the metadata.
Browse dissertations / theses on a wide variety of disciplines and organise your bibliography correctly.
1
Chomel, Christina T. (Christina Tvrdik) 1973. "Design of a robust integrated guidance and control algorithm for the landing of an autonomous reusable launch vehicle." Thesis, Massachusetts Institute of Technology, 1998. http://hdl.handle.net/1721.1/9940.
Full text
2
Bruno, Liam T. "Three Axis Attitude Control System Design and Analysis Tool Development for the Cal Poly CubeSat Laboratory." DigitalCommons@CalPoly, 2020. https://digitalcommons.calpoly.edu/theses/2288.
Full textAbstract:
The Cal Poly CubeSat Laboratory (CPCL) is currently facing unprecedented engineering challenges—both technically and programmatically—due to the increasing cost and complexity of CubeSat flight missions. In responding to recent RFPs, the CPCL has been forced to find commercially available solutions to entire mission critical spacecraft subsystems such as propulsion and attitude determination & control, because currently no in-house options exist for consideration. The commercially available solutions for these subsystems are often extremely expensive and sometimes provide excessively good performance with respect to mission requirements. Furthermore, use of entire commercial subsystems detracts from the hands-on learning objectives of the CPCL by removing engineering responsibility from students. Therefore, if these particular subsystems can be designed, tested, and integrated in-house at Cal Poly, the result would be twofold: 1) the space of missions supportable by the CPCL under tight budget constraints will grow, and 2) students will be provided with unique, hands-on guidance, navigation, and control learning opportunities. In this thesis, the CPCL’s attitude determination and control system design and analysis toolkit is significantly improved to support in-house ADCS development. The toolkit—including the improvements presented in this work—is then used to complete the existing, partially complete CPCL ADCS design. To fill in missing gaps, particular emphasis is placed on guidance and control algorithm design and selection of attitude actuators. Simulation results show that the completed design is competitive for use in a large class of small satellite missions for which pointing accuracy requirements are on the order of a few degrees.
3
Gagliano, Joseph R. "Orbital Constellation Design and Analysis Using Spherical Trigonometry and Genetic Algorithms: A Mission Level Design Tool for Single Point Coverage on Any Planet." DigitalCommons@CalPoly, 2018. https://digitalcommons.calpoly.edu/theses/1877.
Full textAbstract:
Recent interest surrounding large scale satellite constellations has increased analysis efforts to create the most efficient designs. Multiple studies have successfully optimized constellation patterns using equations of motion propagation methods and genetic algorithms to arrive at optimal solutions. However, these approaches are computationally expensive for large scale constellations, making them impractical for quick iterative design analysis. Therefore, a minimalist algorithm and efficient computational method could be used to improve solution times. This thesis will provide a tool for single target constellation optimization using spherical trigonometry propagation, and an evolutionary genetic algorithm based on a multi-objective optimization function. Each constellation will be evaluated on a normalized fitness scale to determine optimization. The performance objective functions are based on average coverage time, average revisits, and a minimized number of satellites. To adhere to a wider audience, this design tool was written using traditional Matlab, and does not require any additional toolboxes.
To create an efficient design tool, spherical trigonometry propagation will be utilized to evaluate constellations for both coverage time and revisits over a single target. This approach was chosen to avoid solving complex ordinary differential equations for each satellite over a long period of time. By converting the satellite and planetary target into vectors of latitude and longitude in a common celestial sphere (i.e. ECI), the angle can be calculated between each set of vectors in three-dimensional space. A comparison of angle against a maximum view angle, , controlled by the elevation angle of the target and the satellite’s altitude, will determine coverage time and number of revisits during a single orbital period.
Traditional constellations are defined by an altitude (a), inclination (I), and Walker Delta Pattern notation: T/P/F. Where T represents the number of satellites, P is the number of orbital planes, and F indirectly defines the number of adjacent planes with satellite offsets. Assuming circular orbits, these five parameters outline any possible constellation design. The optimization algorithm will use these parameters as evolutionary traits to iterate through the solutions space. This process will pass down the best traits from one generation to the next, slowly evolving and converging the population towards an optimal solution. Utilizing tournament style selection, multi-parent recombination, and mutation techniques, each generation of children will improve on the last by evaluating the three performance objectives listed. The evolutionary algorithm will iterate through 100 generations (G) with a population (n) of 100.
The results of this study explore optimal constellation designs for seven targets evenly spaced from 0° to 90° latitude on Earth, Mars and Jupiter. Each test case reports the top ten constellations found based on optimal fitness. Scatterplots of the constellation design solution space and the multi-objective fitness function breakdown are provided to showcase convergence of the evolutionary genetic algorithm. The results highlight the ratio between constellation altitude and planetary radius as the most influential aspects for achieving optimal constellations due to the increased field of view ratio achievable on smaller planetary bodies. The multi-objective fitness function however, influences constellation design the most because it is the main optimization driver. All future constellation optimization problems should critically determine the best multi-objective fitness function needed for a specific study or mission.
4
Hallberg, Eric N. "On integrated plant, control and guidance design." Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1997. http://handle.dtic.mil/100.2/ADA341957.
Full textAbstract:
Dissertation (Ph.D. in Aeronautics and Astronautics) Naval Postgraduate School, September 1997.<br>"September 1997." Dissertation supervisor(s): Isaac I. Kaminer. Includes bibliographical references (p. 187-190). Also available online.
5
Moon, Jongki. "Mission-based guidance system design for autonomous UAVs." Diss., Atlanta, Ga. : Georgia Institute of Technology, 2009. http://hdl.handle.net/1853/31797.
Full textAbstract:
Thesis (Ph.D)--Aerospace Engineering, Georgia Institute of Technology, 2010.<br>Committee Chair: Prasad, JVR; Committee Member: Costello, Mark; Committee Member: Johnson, Eric; Committee Member: Schrage, Daniel; Committee Member: Vela, Patricio. Part of the SMARTech Electronic Thesis and Dissertation Collection.
6
Brown, Derek William. "Systolic algorithm design for control and signal processing." Thesis, Queen's University Belfast, 1996. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.337644.
Full text
7
Isiyel, Kadir. "Autopilot Design And Guidance Control Of Ulisar Uuv (unmanned Underwater Vehicle)." Master's thesis, METU, 2007. http://etd.lib.metu.edu.tr/upload/12608867/index.pdf.
Full textAbstract:
Unmanned Underwater Vehicles (UUV) in open-seas are highly nonlinear with system motions.
Because of the complex interaction of the body with environment it is difficult to
control them efficiently. Linearization is applied to system in order to design controllers developed
for linear systems. To overcome the effects of disturbances, a mathematical model
which will compensate all disturbances and effects of linearization is required. In this study
first a mathematical model is formed wherein the linear and nonlinear hydrodynamic coeffi-
cients are calculated with strip theory.
After the basic mathematical model is developed, it is simplified and decoupled into speed,
steering and diving subsystems. Consequently PID (Proportional Derivative Integral), SMC
(SlidingMode Control) and LQR (Linear Quadratic Regulator)/LQG (Linear Quadratic Gaussian)
control methods can be applied on each subsystem to design controllers. Some of the
system parameters can be estimated from state vector data based on measurements using the
methods of linear sequential estimation and genetic algorithms. As for the final part of the
study, an online obstacle avoidance algorithm which avoids local optimums using Boolean
operators is presented. In addition a simple guidance algorithm is suggested for waypoint
navigation.
Due to the fact that ULISAR UUV is still on construction phase, we were unable to test our algorithms. But in the near future, we plan to study all these algorithms on the UUV
ULISAR.
8
Morgan, H. P. "Quantitative design guidance on smoke control in shopping malls and atria." Thesis, London South Bank University, 1993. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.618632.
Full text
9
Li, Ming-Yan. "Performance analysis and enhancement of proportional navigation guidance systems /." Title page, table of contents and abstract only, 1999. http://web4.library.adelaide.edu.au/theses/09ENS/09ensl693.pdf.
Full text
10
Balasubramanian, Balasundar. "A new guidance trajectory generation algorithm for unmanned systems incorporating vehicle dynamics and constraints." Thesis, Virginia Tech, 2010. http://hdl.handle.net/10919/36430.
Full textAbstract:
We present a new trajectory generation algorithm for autonomous guidance and control of
unmanned vehicles from a given starting point to a given target location. We build and
update incomplete a priori maps of the operating environment in real time using onboard
sensors and compute level sets on the map reflecting the minimal cost of traversal from the
current vehicle location to the goal. We convert the trajectory generation problem into a
finite-time-horizon optimal control problem using the computed level sets as terminal costs
in a receding horizon framework and transform it into a simpler nonlinear programming
problem by discretization of the candidate control and state histories. We ensure feasibility
of the generated trajectories by constraining the solution of the optimization problem using a
simplified vehicle model. We provide strong performance guarantees by checking for stability
of the algorithm through the test of matching conditions at the end of each iteration. The
algorithm thus explicitly incorporates the vehicle dynamics and constraints and generates
trajectories realizable by the vehicle in the field. Successful preliminary field demonstrations
and complete simulation results for a marine unmanned surface vehicle demonstrate
the efficacy of the proposed approach for fast operations in poorly characterized riverine
environments.<br>Master of Science
11
Manzano, Ramos Edgar André. "Optimal control algorithm design for a prototype of active noise control system." Master's thesis, Pontificia Universidad Católica del Perú, 2017. http://tesis.pucp.edu.pe/repositorio/handle/123456789/8499.
Full textAbstract:
High-level noise can represent a serious risk for the health, industrial operations often
represent continuous exposure to noise, thus an important trouble to handle.
An alternative of solution can be the use of passive mechanisms of noise reductions,
nonetheless its application cannot diminish low-frequency noise.
Active Noise Control (ANC) is the solution used for low-frequency noise, ANC systems
work according to the superposition principle generating a secondary anti-noise
signal to reduce both.
Nevertheless, the generation of an anti-noise signal with same oppose characteristics
of the original noise signal presupposes the utilization of special techniques such
as adaptive algorithms. These algorithms involve computational costs.
The present research present the optimization of a specific ANC algorithm in the
step-size criteria. Delayed Filtered-x LMS (FxLMS) algorithm using an optimal
step-size is evaluated in a prototype of ANC system.<br>Tesis
12
Haroz, Carla (Carla Shariz) 1974. "A predictor-corrector guidance algorithm design for a low L/D autonomous re-entry vehicle." Thesis, Massachusetts Institute of Technology, 1998. http://hdl.handle.net/1721.1/31085.
Full textAbstract:
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, February 1999.<br>Includes bibliographical references (p. 171).<br>The Precision Landing Reusable Launch Vehicle (PL-RLV) is a low L/D, 2-stage craft with a mission plan that calls for low cost, speedy retrieval, and quick turn-around-times for successive flights. A guidance scheme that best adheres to these goals and captures the vehicle's capability is desired. During re-entry, the PL-RLV's second stage, the Precision Landing Vehicle 2 (PLV-2), will perform a reversal maneuver. This thesis concentrates on a possible re-entry guidance scheme for the PLV-2 during the terminal phase, the time from the completion of the reversal until the landing system parachutes are deployed. A simple bank-to-steer algorithm is suggested. The angle of attack is trimmed, and the bank angle (or bank rate) remains as the only means for control. The algorithm controls the time history of the vehicle's bank angle and tunes the bank angle history to meet landing and fuel requirements. This versatile guidance approach employs predictor-corrector methods. The guidance scheme presented generates a possibility of bankrate profiles within limitations that could be used for target acquisition. Selection of a robust target location and the nominal bankrate profile which will yield a minimum target miss are investigated. Testing shows the trade-offs between fuel cost and landing capability. Dispersion testing with winds and density are also performed. The predictor-corrector combination can yield target miss distances on the order of hundreds of feet or less. Open-loop and closed-loop results display the guidance system's ability to capture the PLV-2's capability in the presence of dispersions while still meeting system requirements.<br>by Carla Haroz.<br>S.M.
13
Zhang, Zhonghua. "Smart TCT, an efficient algorithm for supervisory control design." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2001. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp04/MQ58804.pdf.
Full text
14
Vural, Ozgur Ahmet. "Fuzzy Logic Guidance System Design For Guided Missiles." Master's thesis, METU, 2003. http://etd.lib.metu.edu.tr/upload/1026715/index.pdf.
Full textAbstract:
This thesis involves modeling, guidance, control, and flight simulations of a canard
controlled guided missile.
The autopilot is designed by a pole placement technique. Designed autopilot is
used with the guidance systems considered in the thesis.
Five different guidance methods are applied in the thesis, one of which is the
famous proportional navigation guidance. The other four guidance methods are
different fuzzy logic guidance systems designed considering different types of
guidance inputs.
Simulations are done against five different target types and the performances of the
five guidance methods are compared and discussed.
15
Serin, Bilge. "Taxonomy Of Design Control Tools." Master's thesis, METU, 2010. http://etd.lib.metu.edu.tr/upload/12612177/index.pdf.
Full textAbstract:
Design control is a relevant concept for any age and any context of urban development by use of many varying tools from highly prescriptive ones to flexible guidance in order to control design of urban space and places. Production of clear definitions and types for the tools is critical for effective use of the design tools to guide and code the urban design. Distinctive parameters for the definitions and types of the design control tools are scale of intervention, level of prescription and contents and component of the tool. In this thesis, design control tools including design guides, briefs, frameworks and design codes are analysed in terms of this parameters, in order to reach the aim of the thesis which is building taxonomy of design control tools and taxonomy of their contents and components by analysing contemporary design control tools.
16
Gadala, Ibrahim M. "A design expert system for guidance and assessment of the design evolution of motion control systems." Thesis, University of British Columbia, 2012. http://hdl.handle.net/2429/41894.
Full textAbstract:
The automation of engineering design is of great significance in the development of machinery and products in competitive industries. Using an automated and “optimal” design process to redesign the faulty components and poorly performing regions of an existing engineering system will facilitate the realization of realistic design alternatives, with benefits such as improved quality, reliability, and cost effectiveness. Motivated by such needs, this thesis develops a Design Expert System (DES) for motion control (MC) applications. The developed DES is expected to be integrated into a multi-system Evolutionary Design Framework (EDF) which is being developed in our laboratory. The EDF integrates techniques of condition monitoring, modeling, and evolutionary optimization for autonomous identification, diagnosis, and redesign of poorly performing aspects of an existing machine. Through integration with optimization routines and the use of a comprehensive knowledge base (KB) in the MC domain, the DES developed in this work is able to guide the evolution of optimal design alternatives and assess their feasibility and effectiveness.
Due to the prevalence of electric motors as actuators in many industrial applications, MC design and actuator (motor) selection represent the application domain of the DES developed in the present research. The KB of the DES includes knowledge of typical mechanical structures used in industrial MC systems, common profiles of load speed or position (duty cycles), and the effect of practical issues such as s-curve profiling, geometric trajectory blending, intermittent duty cycles, rms torque, and the thermal response of motors. A systematic methodology for detailed design analysis and subsequent selection of commercially available motors, their drive systems, and transmission devices (e.g., gears) from an external database is developed. Selections by the DES are compared to those by a human designer for both hypothetical and actual designs, thereby verifying the DES procedure. To facilitate the interaction between different systems in the EDF, a graphical user interface (GUI) is created for the DES in Excel®. The DES is synchronized with Matlab® to guide optimization routines based on its built-in human expertise and heuristic design knowledge. A guided optimization case study is presented and benefits of the guidance process are discussed.
17
Ozkan, Bulent. "Dynamic Modeling, Guidance, And Control Of Homing Missiles." Phd thesis, METU, 2005. http://etd.lib.metu.edu.tr/upload/12606533/index.pdf.
Full textAbstract:
DYNAMIC MODELING, GUIDANCE, AND CONTROL OF HOMING MISSILES
Ö<br>ZKAN, Bü<br>lent
Ph. D., Department of Mechanical Engineering
Supervisor: Prof. Dr. M. Kemal Ö<br>ZGÖ<br>REN
Co-Supervisor: Dr. Gö<br>kmen MAHMUTYAZICIOgLU
September 2005, 236 pages
In this study, the dynamic modeling, guidance, and control of a missile with two relatively rotating parts are dealt with. The two parts of the missile are connected to each other by means of a roller bearing. In the first part of the study, the governing differential equations of motion of the mentioned missile are derived. Then, regarding the relative rotation between the bodies, the aerodynamic model of the missile is constructed by means of the Missile Datcom software available in TÜ<br>BiTAK-SAGE. After obtaining the required aerodynamic stability derivatives using the generated aerodynamic data, the necessary transfer functions are determined based on the equations of motion of the missile. Next, the guidance laws that are considered in this study are formulated. Here, the Linear Homing Guidance and the Parabolic Homing Guidance laws are introduced as alternatives to the Proportional Navigation Guidance law. On this occasion, the spatial derivation of the Proportional Navigation Guidance law is also done. Afterwards, the roll, pitch and yaw autopilots are designed using the determined transfer functions. As the roll autopilot is constructed to regulate the roll angle of the front body of the missile which is the controlled part, the pitch and yaw autopilots are designed to realize the command signals generated by the guidance laws. The guidance commands are in the form of either the lateral acceleration components or the flight path angles of the missile. Then, the target kinematics is modeled for a typical surface target. As a complementary part of the work, the design of a target state estimator is made as a first order fading memory filter. Finally, the entire guidance and control system is built by integrating all the models mentioned above. Using the entire system model, the computer simulations are carried out using the Matlab-Simulink software and the proposed guidance laws are compared with the Proportional Navigation Guidance law. The comparison is repeated for a selected single-body missile as well. Consequently, the simulation results are discussed and the study is evaluated.
18
Barao, Miguel, and Joao M. Lemos. "An efficient Kullback-Leibler optimization algorithm for probabilistic control design." Bachelor's thesis, IEEE, 2008. http://hdl.handle.net/10174/4586.
Full textAbstract:
This paper addresses the problem of iterative optimization of the Kullback-Leibler (KL) divergence on discrete (finite) probability spaces. Traditionally, the problem is formulated in the constrained optimization framework and is tackled by gradient like methods. Here, it is shown that performing the KL optimization in a Riemannian space equipped with the Fisher metric provides three major advantages over the standard methods: 1. The Fisher metric turns the original constrained optimization into an unconstrained optimization problem; 2. The optimization using a Fisher metric behaves asymptotically as a Newton method and shows very fast convergence near the optimum; 3. The Fisher metric is an intrinsic property of the space of probability distributions and allows a formally correct interpretation of a (natural) gradient as the steepest-descent method. Simulation results are presented.
19
Tekin, Raziye. "Design, Modeling, Guidance And Control Of A Vertical Launch Surface To Air Missile." Master's thesis, METU, 2010. http://etd.lib.metu.edu.tr/upload/12612408/index.pdf.
Full textAbstract:
The recent interests in the necessity of high maneuverability and vertical launching triggered namely the unconventional control design techniques that are effective at high angle of attack flight regimes. For most of missile configurations, this interest required thrust vector control together with conventional aerodynamic control.
In this study, nonlinear modeling and dynamical analysis of a surface to air missile with both aerodynamic and thrust vector control is investigated. Aerodynamic force and moment modeling of the presented missile includes the challenging high angle of attack aerodynamics behavior and the so called hybrid control, which utilizes both tail fins and jet vanes as control surfaces. Thrust vector and aerodynamic control effectiveness is examined during flight envelope. Different autopilot designs are accomplished with hybrid control. Midcourse and terminal guidance algorithms are implemented and performed on target sets including maneuverable targets. A different initial turnover strategy is suggested and compared with standard skid-to-turn maneuver. Comparisons of initial roll with aerodynamic and thrust vector control are examined. Afterwards, some critical maneuvers and hybrid control ratio is studied with a real coded genetic algorithm. Rapid turnover for low altitude targets, intercept maneuver analysis with hybrid control ratio and lastly, engagement initiation maneuver optimization is fulfilled.
20
Deaconu, Georgia Iuliana. "On the trajectory design, guidance and control for spacecraft rendezvous and proximity operations." Toulouse 3, 2013. http://thesesups.ups-tlse.fr/2105/.
Full textAbstract:
Le succès des missions spatiales repose de plus en plus souvent sur la coopération entre différents engins spatiaux. Le rendez-vous en orbite est une pratique aussi ancienne que la conquête spatiale et qui a généré de nombreux travaux depuis les années 50. Cependant, les motivations et objectifs des récentes missions de rendez-vous orbital ont largement évolués. En effet, les besoins d'une autonomie accrue, d'une plus grande flexibilité et de réduction du coût sont une incitation forte au développement de nouvelles méthodes de guidage et contrôle. Ainsi, la sécurité de chaque mission impose des restrictions sur les trajectoires de rendez-vous. En même temps, les technologies embarquées impliquent la prise en compte des limitations des actionneurs et des imperfection des capteurs. Ce contexte nouveau génère des défis scientifiques que les algorithmes développés dans cette thèse tente de relever. Les travaux de cette thèse sont basées sur l'analyse structurelle des expressions décrivant le mouvement relatif entre deux véhicules en orbite. Une nouvelle paramétrisation du mouvement relatif est déduite de cette analyse. Elle permet de caractériser les trajectoires relatives qui respectent un ensemble de contraintes. En utilisant ce résultat, un lien formel est développé entre les paramètres définissant des trajectoires relatives inscrites dans un polyèdre et le cône des matrices semi définies positives. Ce lien est ensuite exploité dans des algorithmes de design de trajectoires pour des opérations de proximité, sous hypothèse de poussée impulsionnelle. Ces algorithmes ont, entre autre, la propriété de permettre la satisfaction des contraintes sur la trajectoire de manière continue dans le temps, tout en utilisant les outils numériques de la programmation convexe. Le problème spécifique de la robustesse des manœuvres aux incertitudes de la chaîne de mesure est aussi abordé dans ce manuscrit. Des approches de type commande prédictive sont mises en place afin de garantir aux opérations une précision souhaitée en présence de perturbations<br>Recent space missions rely more and more on the cooperation between different spacecraft in order to achieve a desired objective. Among the spacecraft proximity operations, the orbital rendezvous is a classical example that has generated a large amount of studies since the beginning of the space exploration. However, the motivations and objectives for the proximity operations have considerably changed. The need for higher autonomy, better security and lower costs prompts for the development of new guidance and control algorithms. The presence of different types of constraints and physical limitations also contributes to the increased complexity of the problem. In this challenging context, this dissertation represents a contribution to the development of new spacecraft guidance and control algorithms. The works presented in this dissertation are based on a structural analysis of the spacecraft relative dynamics. Using a simplified model, a new set of parametric expressions is developed for the relative motion. This parametrization is very well suited for the analysis of the geometric properties of periodic relative trajectories and for handling different types of state constraints. A formal connection is evidenced between the set of parameters that define constrained trajectories and the cone of positive semi-definite matrices. This result is exploited in the design of spacecraft relative trajectories for proximity operations, in the impulsive control framework. The resulting guidance algorithms enable the guaranteed continuous constraints satisfaction, while still relying on semi-definite programming tools. The problem of the robustness of the computed maneuvers with respect to navigation uncertainties is also addressed
21
Hallberg, Eric N. "Design of a GPS aided guidance, navigation, and control system for trajectory control of an air vehicle." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1994. http://handle.dtic.mil/100.2/ADA281034.
Full text
22
Wieczorek, Italo de Avila. "A power line detection algorithm to support a fine grain UAV movement guidance." reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2017. http://hdl.handle.net/10183/163770.
Full textAbstract:
Detecção de linhas de alta tensão em ambientes complexos é uma das tarefas mais desafiadoras em inspeções que utilizam Veículos Aéreos Não Tripulados (VANTs). Este trabalho foca em dar uma solução para este desafio, através do desenvolvimento de um algoritmo de controle de voo de precisão, que guie o VANT de maneira autônoma sobre as linhas de alta tensão. O algoritmo proposto é baseado em quatro etapas: Captura da Imagem, Filtragem da Imagem, Detecção das Linhas e Controle de Voo. Inicialmente a imagem é redimensionada para um tamanho em que as linhas fiquem em maior evidência, depois uma sequência de filtros é aplicada na imagem para reduzir ruído e evidenciar ainda mais as linhas. Depois deste pré-tratamento, um filtro de duas dimensões com formato similar ao de uma linha de alta tensão é usado para extrair os pixels pertencentes as bordas destas linhas. Após a aplicação do filtro de duas dimensões, a Transformada de Hough é aplicada na imagem resultante para detectar os segmentos de reta. Por fim, todos os dados obtidos no processamento da imagem são utilizados para guiar o VANT de maneira autônoma pelas linhas de transmissão. O algoritmo proposto apresenta um eficiente sistema de detecção de linhas de alta tensão, para auxiliar o controle de voo autônomo de um VANT, apresentando resultados convincentes.<br>Power lines detection in complex environments is one of the most important and challenging tasks in Unmanned Aerial Vehicles (UAV)-based inspections. This work focuses on tackling this challenge by developing a control algorithm to support fine grain UAV control to autonomously guide the aerial platform over the power lines. The proposed algorithm is based on four stages: Image Capturing, Image Filtering, Line Detection and Flight Control. Firstly, the image is cropped to a size that fits all the power lines, then a sequence of filters is applied in the image to reduce noise and highlight these lines. After all the image's pretreatment, a 2D filter with similar shape of a power transmission line is used to extract pixels that belongs to the line's edges. Then, the Hough Transform method detects the line segments in the edges result image. Lastly all the obtained data is used to autonomously guide a UAV over the power transmission lines. The proposed algorithm presents an efficient power transmission lines detecting system to support the autonomous UAV guidance, which presents convincing results.
23
Sims, Tanner Austin. "Design and Control Considerations for a Skid-to-Turn Unmanned Aerial Vehicle." DigitalCommons@CalPoly, 2009. https://digitalcommons.calpoly.edu/theses/83.
Full textAbstract:
The use of Unmanned Aerial Vehicles (UAVs) are rapidly expanding and taking on new roles in the military. In the area of training and targeting vehicles, control systems are expanding the functionality of UAVs beyond their initially designed purpose. Aeromech Engineering’s NXT UAV is a high speed target drone that is intended to simulate a small aircraft threat. However, in the interest of increasing functionality, enabling NXT to accomplish wings level skidding turns provides the basis for a UAV that can simulate a threat from a missile. Research was conducted to investigate the aerodynamic and performance characteristics of a winged vehicle performing high acceleration skidding turns. Initially, a linear model was developed using small disturbance theory. The model was further improved by developing a six degree of freedom simulation. A controller using four loop closures and utilizing both rudder and aileron for control was developed. Any outside guidance system that navigates using a heading command can easily be integrated into this controller design. Simulations show this controller enables the NXT UAV to accomplish up to 3 G wings level skidding turns. Further testing, showed that the controller was able to tolerate significant turbulence, sensor noise, loop failures and changes within the plant dynamics. This research shows how it is possible for a winged UAV to easily maneuver using wings level skid turns.
24
Sebusang, Sebusang E. M. "Minimal control synthesis algorithm : safety-critical and a priori design issues." Thesis, University of Bristol, 1997. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.389031.
Full text
25
Alswedani, Sarah. "DESIGN AND IMPLEMENTATION OF A CONCURRENCY CONTROL ALGORITHM FOR JOIN CORE." OpenSIUC, 2017. https://opensiuc.lib.siu.edu/theses/2082.
Full textAbstract:
The increased demand for database systems with high-throughput query processing has led to the emergence of Join Core technology. With the presence of Join Core in the database system, and in order to preserve the data consistency between relational database and Join Core data structure, the changes that occurred in the underlying database have to be reflected in the Join Core. This paper proposes a new concurrency control algorithm for the Join Core environment. The algorithm is designed and implemented to satisfy the following requirements. First, it maintains the same order of transactions that are completed in the relational database. Second, it assures that every transaction is re-executed successfully, and none of the transactions is aborted. As for evaluating the performance of the proposed algorithm, extensive simulation experiments have been conducted with various data and resource contentions.
26
Hossain, M. Alamgir, M. O. Tokhi, and Keshav P. Dahal. "Impact of algorithm design in implementing real-time active control systems." Springer, 2004. http://hdl.handle.net/10454/2597.
Full textAbstract:
This paper presents an investigation into the impact of algorithm design
for real-time active control systems. An active vibration control (AVC) algorithm
for flexible beam systems is employed to demonstrate the critical design
impact for real-time control applications. The AVC algorithm is analyzed, designed
in various forms and implemented to explore the impact. Finally, a comparative
real-time computing performance of the algorithms is presented and
discussed to demonstrate the merits of different design mechanisms through a
set of experiments.
27
Kargin, Volkan. "Design Of An Autonomous Landing Control Algorithm For A Fixed Wing Uav." Master's thesis, METU, 2007. http://etd.lib.metu.edu.tr/upload/12608996/index.pdf.
Full textAbstract:
This thesis concerns with the design and development of automatic flight controller strategies
for the autonomous landing of fixed wing unmanned aircraft subject to severe environmental
conditions. The Tactical Unmanned Aerial Vehicle (TUAV) designed at the Middle East Technical University (METU) is used as the subject platform. In the first part of this thesis, a
dynamic model of the TUAV is developed in FORTRAN environment. The dynamic model is
used to establish the stability characteristics of the TUAV. The simulation model also incorporates ground reaction and atmospheric models. Based on this model, the landing trajectory
that provides shortest landing distance and smallest approach time is determined. Then, an
automatic flight control system is designed for the autonomous landing of the TUAV. The
controller uses a model inversion approach based on the dynamic model characteristics. Feed
forward and mixing terms are added to increase performance of the autopilot. Landing strategies are developed under adverse atmospheric conditions and performance of three different
classical controllers are compared. Finally, simulation results are presented to demonstrate the
effectiveness of the design. Simulation cases include landing under crosswind, head wind, tail
wind, wind shear and turbulence.
28
Jalasutram, Srikanth. "Design of an intelligent posture guidance system for workspace seating." Thesis, Georgia Institute of Technology, 2011. http://hdl.handle.net/1853/41117.
Full textAbstract:
Seating is an integral part of work environment. When people are at work, they often sit in chairs for long periods of time without changing postures. This results in reduced blood circulation in the body, especially in the buttock-thigh area causing muscle fatigue, pain and discomfort. Ergonomically designed task chairs adopt a passive approach to guiding people into better postures by providing adjustability inside the chair. However most people do not adjust their chairs because they fail to sense the need for changing posture. They are left to sensing the need to change posture through guesswork or extreme discomfort. This thesis proposes a new system to address this problem by sensing static posture in a seated person with the use of electronic sensors embedded in the seat, and by providing interactive feedback to static posture via sound, light and tactile channels. The new technology is an sensing-feedback mechanism embedded in a chair, that allows people to receive postural information and make body adjustments periodically to avoid pain and discomfort caused by prolonged seating.The feedback mechanism was tested with four subjects to determine its efficacy in generating posture change through pressure relief and user feedback was gathered in order to design the final prototype.
29
Rao, Tingting. "LP-based subgradient algorithm for joint pricing and inventory control problems." Thesis, Massachusetts Institute of Technology, 2008. http://hdl.handle.net/1721.1/45282.
Full textAbstract:
Thesis (S.M.)--Massachusetts Institute of Technology, Computation for Design and Optimization Program, 2008.<br>Includes bibliographical references (p. 93-94).<br>It is important for companies to manage their revenues and -reduce their costs efficiently. These goals can be achieved through effective pricing and inventory control strategies. This thesis studies a joint multi-period pricing and inventory control problem for a make-to-stock manufacturing system. Multiple products are produced under shared production capacity over a finite time horizon. The demand for each product is a function of the prices and no back orders are allowed. Inventory and production costs are linear functions of the levels of inventory and production, respectively. In this thesis, we introduce an iterative gradient-based algorithm. A key idea is that given a demand realization, the cost minimization part of the problem becomes a linear transportation problem. Given this idea, if we knew the optimal demand, we could solve the production problem efficiently. At each iteration of the algorithm, given a demand vector we solve a linear transportation problem and use its dual variables in order to solve a quadratic optimization problem that optimizes the revenue part and generates a new pricing policy. We illustrate computationally that this algorithm obtains the optimal production and pricing policy over the finite time horizon efficiently. The computational experiments in this thesis use a wide range of simulated data. The results show that the algorithm we study in this thesis indeed computes the optimal solution for the joint pricing and inventory control problem and is efficient as compared to solving a reformulation of the problem directly using commercial software. The algorithm proposed in this thesis solves large scale problems and can handle a wide range of nonlinear demand functions.<br>by Tingting Rao.<br>S.M.
30
Abbaspour, Ali Reza. "Active Fault-Tolerant Control Design for Nonlinear Systems." FIU Digital Commons, 2018. https://digitalcommons.fiu.edu/etd/3917.
Full textAbstract:
Faults and failures in system components are the two main reasons for the instability and the degradation in control performance. In recent decades, fault-tolerant control (FTC) approaches were introduced to improve the resiliency of the control system against faults and failures. In general, FTC techniques are classified into two major groups: passive and active. Passive FTC systems do not rely on the fault information to control the system and are closely related to the robust control techniques while an active FTC system performs based on the information received from the fault detection and isolation (FDI) system, and the fault problem will be tackled more intelligently without affecting other parts of the system.
This dissertation technically reviews fault and failure causes in control systems and finds solutions to compensate for their effects. Recent achievements in FDI approaches, and active and passive FTC designs are investigated. Thorough comparisons of several different aspects are conducted to understand the advantages and disadvantages of different FTC techniques to motivate researchers to further developing FTC, and FDI approaches.
Then, a novel active FTC system framework based on online FDI is presented which has significant advantages in comparison with other state of the art FTC strategies. To design the proposed active FTC, a new FDI approach is introduced which uses the artificial neural network (ANN) and a model based observer to detect and isolate faults and failures in sensors and actuators. In addition, the extended Kalman filter (EKF) is introduced to tune ANN weights and improve the ANN performance. Then, the FDI signal combined with a nonlinear dynamic inversion (NDI) technique is used to compensate for the faults in the actuators and sensors of a nonlinear system. The proposed scheme detects and accommodates faults in the actuators and sensors of the system in real-time without the need of controller reconfiguration.
The proposed active FTC approach is used to design a control system for three different applications: Unmanned aerial vehicle (UAV), load frequency control system, and proton exchange membrane fuel cell (PEMFC) system. The performance of the designed controllers are investigated through numerical simulations by comparison with conventional control approaches, and their advantages are demonstrated.
31
Rose, Michael Benjamin. "Statistical Methods for Launch Vehicle Guidance, Navigation, and Control (GN&C) System Design and Analysis." DigitalCommons@USU, 2012. https://digitalcommons.usu.edu/etd/1278.
Full textAbstract:
A novel trajectory and attitude control and navigation analysis tool for powered ascent is developed. The tool is capable of rapid trade-space analysis and is designed to ultimately reduce turnaround time for launch vehicle design, mission planning, and redesign work. It is streamlined to quickly determine trajectory and attitude control dispersions, propellant dispersions, orbit insertion dispersions, and navigation errors and their sensitivities to sensor errors, actuator execution uncertainties, and random disturbances. The tool is developed by applying both Monte Carlo and linear covariance analysis techniques to a closed-loop, launch vehicle guidance, navigation, and control (GN&C) system. The nonlinear dynamics and flight GN&C software models of a closed-loop, six-degree-of-freedom (6-DOF), Monte Carlo simulation are formulated and developed. The nominal reference trajectory (NRT) for the proposed lunar ascent trajectory is defined and generated. The Monte Carlo truth models and GN&C algorithms are linearized about the NRT, the linear covariance equations are formulated, and the linear covariance simulation is developed. The performance of the launch vehicle GN&C system is evaluated using both Monte Carlo and linear covariance techniques and their trajectory and attitude control dispersion, propellant dispersion, orbit insertion dispersion, and navigation error results are validated and compared. Statistical results from linear covariance analysis are generally within 10% of Monte Carlo results, and in most cases the differences are less than 5%. This is an excellent result given the many complex nonlinearities that are embedded in the ascent GN&C problem. Moreover, the real value of this tool lies in its speed, where the linear covariance simulation is 1036.62 times faster than the Monte Carlo simulation. Although the application and results presented are for a lunar, single-stage-to-orbit (SSTO), ascent vehicle, the tools, techniques, and mathematical formulations that are discussed are applicable to ascent on Earth or other planets as well as other rocket-powered systems such as sounding rockets and ballistic missiles.
32
Sar, Preeti. "Eco-Inspired Robust Control Design Algorithm For Linear Systems with Real Parameter Uncertainty." The Ohio State University, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=osu1367439491.
Full text
33
Fujizawa, Brian T. "Control Law Design and Validation for a Helicopter In-Flight Simulator." DigitalCommons@CalPoly, 2010. https://digitalcommons.calpoly.edu/theses/240.
Full textAbstract:
In-flight simulation allows one aircraft to simulate the dynamic response of another aircraft. A control system designed to give RASCAL, a JUH-60A Black Hawk helicopter based at Moffett Field, CA, in-flight simulation capabilities has been designed, optimized and validated in this research. A classical explicit model following control system with a frequency dependent feedback controller was used. The frequency dependent controller allows model following of the attitude in the short term and the velocity in the long term. Controller gains were optimized using a high order, linearized model of UH-60 dynamics. Non-linear simulations of the control laws were performed, first on a desktop computer based simulation, then in the RASCAL development facility, a hardware-in-the-loop simulator. Comparing quantitative results of the non-linear simulations with the results of the optimization using the linearized model ensured that the control system designed with the linearized model was valid in non-linear environments. Finally, a piloted evaluation in the hardware-in-the-loop simulator was performed to obtain qualitative information on the behavior of the control laws.
34
Cruz, A. J. O. "The design of a control unit and parallel algorithms for a SIMD computer." Thesis, University of Southampton, 1988. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.381212.
Full text
35
Wise, Evan Dale. "Design, analysis, and testing of a precision guidance, navigation, and control system for a dual-spinning Cubesat." Thesis, Massachusetts Institute of Technology, 2013. http://hdl.handle.net/1721.1/82509.
Full textAbstract:
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, June 2013.<br>This thesis was scanned as part of an electronic thesis pilot project.<br>"May 2013." Cataloged from PDF version of thesis.<br>Includes bibliographical references (p. [81]-85).<br>The Microsized Microwave Atmospheric Satellite (MicroMAS) combines two traditional control approaches: a dual spinner and a three-axis gyrostat. Unlike typical dual spinners, the purpose of MicroMAS 's 2U bus and spinner assembly is to actuate a iu payload, not to add gyroscopic stiffness. An orthogonal triple reaction wheel assembly from Maryland Aerospace, Inc., will both counter the angular momentum from the payload and rotate the satellite's bus about its orbit-normal vector to maintain bus alignment with the orbital frame. The payload spins about the spacecraft velocity axis to scan successive swaths of the Earth. However, the CubeSat form factor restricts the velocity axis to be along the spacecraft minor axis of inertia. This orientation leaves the spacecraft at a gravity-gradient-unstable equilibrium. Further, imperfect cancellation of the payload's angular momentum induces nutation behavior. An extended Kalman filter is implemented on a 16-bit P1C24 microcontroller to combine gyroscope, limb sensor, and magnetometer data to provide attitude estimation accuracy of approximately 20 arcminutes. Simulations show that the reaction wheels can consistently maintain pointing to within 30 arcminutes for orbits above 400 kilometers with the payload rotating at 0.83 hertz.<br>by Evan Dale Wise.<br>S.M.
36
Chen, Yuanyan. "Autonomous Unmanned Ground Vehicle (UGV) Follower Design." Ohio University / OhioLINK, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1470951910.
Full text
37
Golesorkhi, Nader. "Sensitivity-based algorithm for modelling of plants with uncertainty and for control system design." Thesis, King's College London (University of London), 1993. https://kclpure.kcl.ac.uk/portal/en/theses/sensitivitybased-algorithm-for-modelling-of-plants-with-uncertainty-and-for-control-system-design(b28d1f3f-283a-4378-a132-c269bdfb4a8c).html.
Full text
38
McMahon, Mathew T. "A Distributed Genetic Algorithm With Migration for the Design of Composite Laminate Structures." Thesis, Virginia Tech, 1998. http://hdl.handle.net/10919/36962.
Full textAbstract:
This thesis describes the development of a general Fortran 90 framework for the solution of composite laminate design problems using a genetic algorithm (GA). The initial Fortran 90 module and package of operators result in a standard genetic algorithm (sGA). The sGA is extended to operate on a parallel processor, and a migration algorithm is introduced. These extensions result in the distributed genetic algorithm with migration (dGA).
The performance of the dGA in terms of cost and reliability is studied and compared to an sGA baseline, using two types of composite laminate design problems. The nondeterminism of GAs and the migration and dynamic load balancing algorithm used in this work result in a changed (diminished) workload, so conventional measures of parallelizability are not meaningful. Thus, a set of experiments is devised to characterize the run time performance of the dGA.
The migration algorithm is found to diminish the normalized cost and improve the reliability of a GA optimization run. An effective linear speedup for constant work is achieved, and the dynamic load balancing algorithm with distributed control and token ring termination detection yield improved run time performance.<br>Master of Science
39
Mok, Tsz-kin, and 莫子建. "Modeling, analysis and control design for the UPFC with fuzzy theory and genetic algorithm application." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2000. http://hub.hku.hk/bib/B31224969.
Full text
40
Tsai, Chen-Fang. "Improving the economic design of multiple control charts using a dynamic genetic algorithm-based program." Thesis, University of Sunderland, 1997. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.360083.
Full text
41
Bratkovich, Thomas E. (Thomas Edward). "An integrated design, control, and trajectory optimization algorithm for future planetary (Martian) entry/lander vehicles." Thesis, Massachusetts Institute of Technology, 1993. http://hdl.handle.net/1721.1/47323.
Full text
42
Lai, Rei-Min, and 賴瑞銘. "An Approach to Guidance and Control System Design using Genetic Algorithm and Fuzzy Logic Model." Thesis, 2001. http://ndltd.ncl.edu.tw/handle/99542108043943352253.
Full textAbstract:
碩士<br>逢甲大學<br>自動控制工程學系<br>89<br>The proportional navigation guidance law usually guides traditional aerodynamically controlled missiles in the terminal phase. Such design approaches possess little design flexibility on the improvement of engagement performance robustness. A novel approach using the Takagi-Sugeno fuzzy logic theory and the gain scheduling technique is presented to design guidance and control parameters and autopilot over coupled flight conditions. A Takagi-Sugeno fuzzy logic model is used as a fuzzy inference mechanism to interpolate the guidance and control parameters around various flight conditions. A genetic algorithm serves as the computing device to determine the optimal consequent function parameters of the fuzzy rules. It is a global search algorithm thus avoids a local minimum. The proposed design paradigm offers a way to implement simple but robust solutions that cover a wide range of aerodynamic variations.
A dynamic backpropagation training algorithm for an adaptive fuzzy gain scheduling feedback control scheme also developed to design an autopilot. Mach number and angle-of-attack are used as measured, time-varying exogenous scheduling variables injected into the guidance law. By incorporating scheduling parameter variation information, the adaptation law for controller parameters is derived.
43
CHEN, KUEI-YI, and 陳貴一. "Missile Guidance Algorithm Design Using Artificial Intelligence." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/x9mcb4.
Full textAbstract:
博士<br>國防大學理工學院<br>國防科學研究所<br>104<br>Missile has already become a sharp weapon, and could deter enemy actions. However, along with the improvement of fighter maneuver performance, the performance of missile has much challenge. In which, the guidance law is the one of the key factors. Therefore, the missile guidance law that constructs good guidance performances has much attention. Artificial intelligence (AI) algorithms and machine learning have been successful used in solving nonlinear, dynamic and multi-objectives optimization problem since the advent of AI algorithms and machine learning. With the spread of AI algorithms and machine learning, intelligent missile guidance is becoming more widespread. However, the intelligence missile guidance law that is designed by particle swarm optimization (PSO) algorithm is few and far. Accordingly, this work first discusses the PSO guidance (PSOG) for an air-to-air missile (AAM). The improved PSOG (IPSOG) and the proportional navigation - improved particle swarm optimization guidance (PN-IPSOG) are then presented to enhance the guidance performance. Furthermore, based on the disturbance observer designed by the input estimator (IE), the IE-IPSOG I is also presented. The simulation results indicate that the proposed models have good guidance performance and robustness for intercepting the maneuvering target.
44
Chiang, Hao-Ting, and 江浩霆. "Guidance Law Design: Sliding Mode Control Approach." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/85795984026601012063.
Full textAbstract:
碩士<br>國立成功大學<br>航空太空工程學系碩博士班<br>94<br>In the previous time, most guidance law designs were chosen to be according to the line of sight rate, which is known as PNG law. The required missile maneuver command is calculated by means of the outer guidance loop alongside with the target information, which is transferred to the inner autopilot loop to change the control surface signal. The ideal performance may not be achieved since the real missile mathematical model is not anticipated in the outer loop in this framework, and the maneuver command may diverge as the line of sight rate changes suddenly when the target is very close. Based on ZEM obtained by means of integrated with missile mathematical model and integral-type sliding mode control, an integrated guidance law with smooth control signal and relatively low miss distance is proposed; the proposed guidance law neither has the chattering phenomena comparing with the conventional sliding mode design.
45
Jiang, Jian-Chiang, and 姜健強. "NONLINEAR CONTROL DESIGN FOR MISSILE TERMINAL GUIDANCE." Thesis, 2000. http://ndltd.ncl.edu.tw/handle/66094603515549287920.
Full textAbstract:
碩士<br>國立交通大學<br>電機與控制工程系<br>88<br>In this thesis, we study the interception problem of homing missiles. From the robust stabilization point of view, we propose two of robust control techniques and use them on the design of missile guidance law. When the missile pursuits the target, the acceleration of target is usually unknown and can be regarded as external disturbance. According to the robustness of sliding-mode control, we use Variable Structure Control scheme to design missile guidance law. Moreover, H-infinity control scheme is also proposed for missile interception. We wish the ratio of output energy and input energy will less than or equal to the prescribed value. We use the capture time and the cumulative velocity increment as two performance indices. For the purpose of performance comparison, we compare the performance indices of two missile guidance laws with those of TPN and IPN. From simulation results, we can find that VSC can achieve good performance against both non-maneuvering and maneuvering target and the performance can be controlled by the parameters chosen by the designer.
46
Yu, Che-Chia, and 游哲嘉. "Design of Guidance Control Laws for Electric Vehicles." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/rd9h69.
Full textAbstract:
碩士<br>國立交通大學<br>電控工程研究所<br>103<br>In this thesis, we have developed a guidance control laws for electric vehicles. Since the electric vehicle is a driverless car for this study, the control of vehicle is determined through the master control node of automotive network. The roadside nodes are placed sequentially in pairs on both sides of the road, so the road is a path with detection capabilities. Therefore, each two roadside node divides the road into many segments.
The roadside nodes build a coordinate system of the path before the vehicle enters. The master control node analyzes the current position in the segment located on the path through information and determines the direction of movement depend on the target. Finally, the master control node executes the instruction based on the results of the decision-making to arrive at the target.
This thesis tests guidance control laws by the simulated tool. The simulation results are found to match expectations. According to guidance control laws, the electric vehicle can arrive at the setting target, and achieve our goals of guidance control.
47
Scarritt, Sara Kathryn. "A self-contained guidance and targeting algorithm for spacecraft applications." Thesis, 2012. http://hdl.handle.net/2152/ETD-UT-2012-08-5955.
Full textAbstract:
The development of a self-contained, onboard, fully autonomous trajectory guidance tool for spacecraft is presented. To be considered completely autonomous requires the capability to both identify an appropriate startup solution, and then use that solution to target a set of user-defined path and endpoint constraints. To minimize the cost of flight software development
and validation, both the generation of the startup solution and the targeting algorithm are designed to be as computationally efficient as possible. This study addresses both the determination of a startup arc and the subsequent
targeting process.
The first part of the investigation considers the targeting algorithm.
Linear targeting through differential corrections is a well-known approach for identifying feasible solutions that meet specified mission and trajectory constraints. However, to date, these methods relied on the assumption that the associated control inputs were impulsive in nature. This research focuses on the theoretical development and numerical validation of a generalized linear targeting algorithm capable of accommodating finite periods of continuous
control action for a wide range of applications. Examples are presented to illustrate the general concept and to contrast the performance of this new targeting process against more classical impulsive targeting methods.
The second section of the study introduces a novel approach utilizing artificial potential function methods to identify suitable startup solutions. Although common in other types of path planning, these methods have not yet been used for orbital or interplanetary trajectory design, primarily due to their inherent suboptimality. However, results show that this issue can be addressed with relative ease by the targeting algorithm.<br>text
48
Wen, Chien-Chun, and 溫建軍. "Lateral Fuzzy Guidance Law Design for Autonomous UAV using Genetic Algorithm." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/61890799492893662715.
Full textAbstract:
碩士<br>元智大學<br>機械工程學系<br>94<br>The path tracking of autonomous flying is an important performance index for UAV (unmanned air vehicle). In this paper, we have developed some virtual fuzzy logic controllers to simulate various 2D flying combinations of linear courses successfully by means of Matlab codes and its toolbox ODE45 step by step. These combinations include any straight courses, any rectangle-like four linear courses and combinations of arbitrary straight flying paths.
Furthermore we utilize real coded GA (Genetic Algorithm) to tune the ranges of membership functions, and then promote the performance of above mentioned fuzzy logic controllers.
49
Kjellberg, Henri Christian. "Design of a CubeSat guidance, navigation, and control module." Thesis, 2011. http://hdl.handle.net/2152/ETD-UT-2011-08-3924.
Full textAbstract:
A guidance, navigation, and control (GN&C) module is being designed and fabricated as part of a series of CubeSats being built by the Satellite Design Laboratory at the University of Texas. A spacecraft attitude control simulation environment called StarBox was created in order to perform trade studies and conduct performance analysis for the GN&C module. Navigation and control algorithms were tested using StarBox and then implemented onto an embedded flight computer. These algorithms were then tested in a hardware-in-the-loop simulation. In addition, the feasibility of utilizing advanced constrained attitude control algorithms was investigated by focusing on implementation in flight software. A mechanical and electrical design for the GN&C module was completed. A prototype system was set up on a bench-top for integrated testing. The analysis indicates that the system will satisfy the requirements of several CubeSat missions, including the current missions at the University of Texas known as Bevo2 and ARMADILLO.<br>text
50
于武強. "Hardware Design of Guidance and Control Loop for UAV." Thesis, 1999. http://ndltd.ncl.edu.tw/handle/96045865746946194898.
Full textAbstract:
碩士<br>國立成功大學<br>航空太空工程學系<br>87<br>Abstract
Unmanned Aerial Vehicle (UAV) is extensively employed recently. It contributes largely not only to national defense and military affairs but also to measurement and prospecting. However, its stability is necessary for long distance flight especially when flight is out of sight. Therefore, it needs a flight control system that can make UAV safer and more stable to increase security and stability. The study aims to develop a flight system that can improve security and stability of UAV and focuses on autopilot of UAV. First literature and data that relate to this study are reviewed and collected. Then the development of the whole research (including now and the future) is designed. Next hardware that begins with Electrical Circuit is designed and manufactured. After hardware is finished and then control law is set, the whole equipment will be put on remotely piloted vehicle and the result of the controller will be tested.