Dissertations / Theses on the topic 'Guidance and control'
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Çelik, Ugurcan. "Robust Booster Landing Guidance/Control." Thesis, KTH, Optimeringslära och systemteori, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-279684.
Full textRymdindustrin och den tekniska utvecklingen av rymdutforskningen har inte varit så populär sedan den första månlandningen. Privatiseringen av utforskningen av rymden och de vertikala landningsraketerna medförde att raketvetenskapen återkom som en viktig huvudfråga igen. Även om det är effektivt att återanvända raketer i form av lönsamhet och popularitet, är denna utveckling fortfarande i sina tidiga stadier. Vertikal landning har utmaningar som, om de försummas, kan orsaka katastrofala konsekvenser. De befintliga studierna i frågan redovisar vanligtvis inte aerodynamikkrafter och motsvarande regulatorer, vilket resulterar i högre bränsleförbrukning som minskar de ekonomiska fördelarna med vertikal landning. Liknande problem har hanterats i studier som inte avsåg boosterlandningar utan om planetariska landningar. Även om flera lösningar har föreslagits för dessa problem beträffande planetariska landningar, det faktum att förstärkningsinlärningskonceptet fungerar bra och ger robusthet gjorde dem till en giltig kandidat för att ansöka om boosterlandningar. I den här studien fokuserar vi på att utveckla en lagstiftning för styrning av vertikala booster-nedstigningar som är robust genom att tillämpa koncepten inom förstärkningsinlärning. Ef- tersom förstärkt inlärningsmetod som väljs kräver lösning av optimala kontrollproblem (OCP), designade och utvecklade vi också en OCP-lösningsmjukvara. Robustheten för resulterande hybridstyrning och kontrollpolicy kommer att undersökas mot olika osäkerheter inklusive, men inte begränsat till vind, fördröjning och aerodynamisk osäkerhet.
Kørte, Steffen Østensjø. "Guidance & Control Strategies for UUVs." Thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for marin teknikk, 2011. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-16228.
Full textIlg, Mark Dean Chang Bor-Chin. "Guidance, navigation, and control for munitions /." Philadelphia, Pa. : Drexel University, 2008. http://hdl.handle.net/1860/2831.
Full textRubí, Perelló Bertomeu. "Guidance, navigation and control of multirotors." Doctoral thesis, Universitat Politècnica de Catalunya, 2020. http://hdl.handle.net/10803/673068.
Full textAquesta tesi doctoral presenta diverses contribucions relaciones amb els sistemes de Guiat, Navegació i Control (GNC) per a vehicles multirrotor, aplicant i desenvolupant diverses tècniques de control i de machine learning amb resultats innovadors. L'objectiu principal de la tesi és obtenir un sistema de GNC capaç de dirigir el vehicle perquè segueixi una trajectòria predefinida mentre evita els obstacles que puguin aparèixer en el recorregut del vehicle. El sistema ha de ser adaptable a diferents trajectòries, situacions i missions, reduint l'esforç realitzat en l'ajust i la parametrització dels mètodes proposats. La plataforma experimental, formada pel cuadricòpter Asctec Hummingbird, s'estudia i es descriu en detall. S'obté un model matemàtic complet de la plataforma i es desenvolupa una eina de simulació, la qual és de codi lliure. A més, es dissenya un controlador autopilot i s'implementa en la plataforma real. La part de control està enfocada al problema de path following. En aquest problema, el vehicle ha de seguir una trajectòria predefinida en l'espai sense cap tipus de restricció temporal. S'estudien, s'implementen i es comparen diversos algoritmes de control i geomètrics de path following. Després, es milloren els algoritmes geomètrics usant xarxes neuronals per convertirlos en algoritmes adaptatius. Per finalitzar, es desenvolupa un mètode de path following basat en tècniques d'aprenentatge per reforç profund (deep Reinforcement learning). Aquest mètode implementa l'algoritme Deep Deterministic Policy Gradient. L'agent intel. ligent resultant és entrenat en un simulador realista de multirotors i validat en la plataforma experimental real amb èxit. Els resultats mostren que l'agent és capaç de seguir de forma precisa la trajectòria de referència adaptant la velocitat del vehicle segons la curvatura del recorregut. A la part de navegació, s'implementa un sistema de detecció d'obstacles basat en l'ús d'un sensor LIDAR. Es deriva un model del sensor i aquest s'inclou en el simulador. A més, es desenvolupa un mètode per tractar les mesures del sensor per eliminar les possibles deteccions del terra. Pel que fa a la part de guiatge, aquesta està focalitzada en el problema de reactive path planning. És a dir, un algoritme de planificació de trajectòria que és capaç de re-planejar el recorregut del vehicle a l'instant si algun esdeveniment inesperat ocorre, com ho és la detecció d'un obstacle en el recorregut del vehicle. Es desenvolupa un mètode basat en aprenentatge per reforç profund per l'evasió d'obstacles. Aquest mètode implementa l'algoritme Deep Deterministic Policy Gradient. L'agent d'aprenentatge per reforç s'entrena i valida en un simulador de multirotors realista. Aquest agent es combina amb l'agent de path following i la resta d'elements desenvolupats en la tesi per obtenir un sistema GNC capaç de seguir diferents tipus de trajectòries, evadint els obstacles que estiguin en el recorregut del vehicle.
Esta tesis doctoral presenta varias contribuciones relacionas con los sistemas de Guiado, Navegación y Control (GNC) para vehículos multirotor, aplicando y desarrollando diversas técnicas de control y de machine learning con resultados innovadores. El objetivo principal de la tesis es obtener un sistema de GNC capaz de dirigir el vehículo para que siga una trayectoria predefinida mientras evita los obstáculos que puedan aparecer en el recorrido del vehículo. El sistema debe ser adaptable a diferentes trayectorias, situaciones y misiones, reduciendo el esfuerzo realizado en el ajuste y la parametrización de los métodos propuestos. La plataforma experimental, formada por el cuadricoptero Asctec Hummingbird, se estudia y describe en detalle. Se obtiene un modelo matemático completo de la plataforma y se desarrolla una herramienta de simulación, la cual es de código libre. Además, se diseña un controlador autopilot, el cual es implementado en la plataforma real. La parte de control está enfocada en el problema de path following. En este problema, el vehículo debe seguir una trayectoria predefinida en el espacio tridimensional sin ninguna restricción temporal Se estudian, implementan y comparan varios algoritmos de control y geométricos de path following. Luego, se mejoran los algoritmos geométricos usando redes neuronales para convertirlos en algoritmos adaptativos. Para finalizar, se desarrolla un método de path following basado en técnicas de aprendizaje por refuerzo profundo (deep reinforcement learning). Este método implementa el algoritmo Deep Deterministic Policy Gradient. El agente inteligente resultante es entrenado en un simulador realista de multirotores y validado en la plataforma experimental real con éxito. Los resultados muestran que el agente es capaz de seguir de forma precisa la trayectoria de referencia adaptando la velocidad del vehículo según la curvatura del recorrido. En la parte de navegación se implementa un sistema de detección de obstáculos basado en el uso de un sensor LIDAR. Se deriva un modelo del sensor y este se incluye en el simulador. Además, se desarrolla un método para tratar las medidas del sensor para eliminar las posibles detecciones del suelo. En cuanto a la parte de guiado, está focalizada en el problema de reactive path planning. Es decir, un algoritmo de planificación de trayectoria que es capaz de re-planear el recorrido del vehículo al instante si ocurre algún evento inesperado, como lo es la detección de un obstáculo en el recorrido del vehículo. Se desarrolla un método basado en aprendizaje por refuerzo profundo para la evasión de obstáculos. Este implementa el algoritmo Deep Deterministic Policy Gradient. El agente de aprendizaje por refuerzo se entrena y valida en un simulador de multirotors realista. Este agente se combina con el agente de path following y el resto de elementos desarrollados en la tesis para obtener un sistema GNC capaz de seguir diferentes tipos de trayectorias evadiendo los obstáculos que estén en el recorrido del vehículo.
Alsaif, Saif A. "Echoic Flow for Guidance and Control." The Ohio State University, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=osu1543864969419357.
Full textWright, David Andrew. "Guidance and control of sounding rockets." Master's thesis, University of Cape Town, 2013. http://hdl.handle.net/11427/5077.
Full textIncludes bibliographical references.
This dissertation presents the design, fabrication and testing of a sounding rocket flight computer for the South African Astronomical Observatory (SAAO). Sounding rockets carry instruments with which to take measurements in the Earth’s atmosphere in sub-orbital flight. The South African Astronomical Observatory (SAAO) requires a flight computer for their sounding rockets. This flight computer is to replace the current commercial flight computer currently in use improving on its functionality and expandability.
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 text"September 1997." Dissertation supervisor(s): Isaac I. Kaminer. Includes bibliographical references (p. 187-190). Also available online.
Dellicker, Scott Henry. "Low cost parachute guidance, navigation, and control." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1999. http://handle.dtic.mil/100.2/ADA369203.
Full text"September 1999". Thesis advisor(s): Richard M. Howard, Isaac I. Kaminer. Includes bibliographical references (p. 91-92). Also available online.
Simakis, Dimitrios A. "Vehicle guidance and control along circular trajectories." Thesis, Monterey, California. Naval Postgraduate School, 1992. http://hdl.handle.net/10945/24101.
Full textMcConnell, George. "Digital bank-to-turn control and guidance." Thesis, Queen's University Belfast, 1988. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.303013.
Full textZhou, Jingyang. "Optimal guidance and control in space technology." Thesis, Curtin University, 2011. http://hdl.handle.net/20.500.11937/1503.
Full textPEREZ, MONTENEGRO CARLOS NORBERTO. "NAVIGATION, GUIDANCE AND CONTROL FOR PLANETARY LANDING." Doctoral thesis, Politecnico di Torino, 2014. http://hdl.handle.net/11583/2557338.
Full textBest, Robert Andrew. "Integrated tracking and guidance." Thesis, University of Birmingham, 1996. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.322491.
Full textRogers, Andrew Charles. "Optimization-Based Guidance for Satellite Relative Motion." Diss., Virginia Tech, 2016. http://hdl.handle.net/10919/79455.
Full textPh. D.
Febbo, Marco. "Advanced 4DT flight guidance and control software system." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2016. http://amslaurea.unibo.it/11239/.
Full textSwee, John C. S. "Missile terminal guidance and control against evasive targets." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2000. http://handle.dtic.mil/100.2/ADA378653.
Full textThesis advisor(s): Hutchins, Robert G. "March 2000." Includes bibliographical references (p. 83). Also available online.
Karasu, Caglar. "Small-size Unmanned Model Helicopter Guidance And Control." Master's thesis, METU, 2004. http://etd.lib.metu.edu.tr/upload/12605595/index.pdf.
Full textrescue, mapping, surveillance. Autonomy is the key property for these vehicles. In order to provide autonomy to an unmanned vehicle, the guidance and the autopilot units are designed in the first step. Waypoints are used to track the desired trajectories. The line of sight guidance is used to reach an active waypoint. In order to realize the guidance commands controllers are designed by using LQR. In addition, position and heading controllers are designed by root-locus method. The trimming and linearization are implemented in order to extract linear models used for controller design. Keywords: Helicopter, control, guidance
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 textZKAN, Bü
lent Ph. D., Department of Mechanical Engineering Supervisor: Prof. Dr. M. Kemal Ö
ZGÖ
REN Co-Supervisor: Dr. Gö
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
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.
Le, Voyer Damien. "Guidance and Control of a Naval Cruise Missile." Thesis, KTH, Reglerteknik, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-105890.
Full textPreciado, Michael Patrick. "The compatibility of guidance control and reformed theology." Thesis, University of Aberdeen, 2017. http://digitool.abdn.ac.uk:80/webclient/DeliveryManager?pid=235593.
Full textFunaya, Koichi. "Manipulator control with obstacle avoidance using local guidance." Thesis, Massachusetts Institute of Technology, 1988. http://hdl.handle.net/1721.1/34041.
Full textGurunathan, Mohan 1975. "Guidance, navigation and control of a robotic fish." Thesis, Massachusetts Institute of Technology, 1998. http://hdl.handle.net/1721.1/50052.
Full textIncludes bibliographical references (p. 70).
by Mohan Grurnathan.
S.B.and M.Eng.
Naeem, Wasif. "Guidance and control of an autonomous underwater vehicle." Thesis, University of Plymouth, 2004. http://hdl.handle.net/10026.1/2822.
Full textGreen, David N. (David Norman) Carleton University Dissertation Engineering Mechanical. "Guidance and control of an autonomous planetary rover." Ottawa, 1993.
Find full textMartinson, Nicholas S. "Obstacle avoidance guidance and control for autonomous satellites." [Gainesville, Fla.] : University of Florida, 2009. http://purl.fcla.edu/fcla/etd/UFE0041033.
Full textMorgan, Robert W. "A New Paradigm in Optimal Missile Guidance." Diss., The University of Arizona, 2007. http://hdl.handle.net/10150/194121.
Full textHaugen, Joakim. "Guidance Algorithms for Planar Path-based Motion Control Scenarios." Thesis, Norwegian University of Science and Technology, Department of Engineering Cybernetics, 2010. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-10036.
Full textThe problem of performing accurate path maneuvering tasks in planar space is investigated in thesis. The purpose is to utilize limited knowledge about the vehicle's maneuverability constraints to output feasible reference signals. Acceleration limitations of the vehicle have been used in an algorithm that determines forward speeds in such way that a predefined path can be followed at high speeds. The algorithm ensures that the speed is reduced before acute turns. Furthermore, an existing steering law has been modified to dynamically take the limitations of the vehicle into consideration when determining the desired course. This modified steering law exhibits desirable convergence characteristics toward the desired path. A complete guidance system, which combines the path convergence algorithm with the path speed algorithm, has been proposed. This system is able to rapidly converge to the desired path and follow this path, even for paths where the curvature is large. The modified steering law has been combined with a path-tracking speed controller. The path-tracking speed controller makes sure the vehicle can track a target on a predefined path. The resulting path-tracking system is able to follow a leader vehicle's path by creating accurate paths online from periodically sampled positions. A method for creating feasible U-turns in a lawn-mower pattern has been proposed. For a given vehicle speed, the resulting path obeys angular speed and angular acceleration constraints. Finally, the proposed algorithms are tested in simulations to illustrate their behavior and usefulness.
Ahiska, Kenan. "Control And Guidance Of An Unmanned Sea Surface Vehicle." Master's thesis, METU, 2012. http://etd.lib.metu.edu.tr/upload/12614705/index.pdf.
Full textPapasotiriou, Evangelos G. "Three dimensional pursuit guidance and control of submersible vehicles." Thesis, Monterey, California. Naval Postgraduate School, 1991. http://hdl.handle.net/10945/26808.
Full textA pure pursuit guidance law is combined with a heading autopilot to provide accurate path keeping of submersible vehicles. The scheme is implemented and analyzed in both the horizontal and vertical planes. A complete stability analysis is performed in order to evaluate regions of stable vehicle operations. Numerical integrations support the analytic predictions. Two distinct stability boundaries are established. In the first, the vehicle loss of stability is accompanied by the generation of oscillatory motions around the commanded path. In the second, loss of stability occurs with linearly increasing path deviation. The horizontal and vertical plane schemes are combined with a propulsion control law in order to achieve path tracking of a general commanded route composed of several straight line segments in three dimensional space.
Cloutier, Michael John. "Guidance and control system for an Autonomous Underwater Vehicle." Thesis, Monterey, California. Naval Postgraduate School, 1990. http://hdl.handle.net/10945/30635.
Full textThe Naval Postgraduate School (NPS) is currently involved in a long-term project to investigate and develop real-time control software, artificial intelligence, computer architecture and control systems theory as they pertain to U.S. Navy autonomous vehicle programs. In support of this goal, the NPS is currently designing and fabricating a testbed autonomous underwater vehicle. This work describes the design, development, and testing of a Guidance Subsystem for this testbed vehicle which uses portions of cubic spirals as the desired path to follow between waypoints. In addition, data translation firmware and real-time software for the control surfaces and main motors is designed, implemented and tested. The process of selecting and implementing an appropriate computer architecture in support of these goals is also discussed and detailed, along with the choice of associated computer hardware and real-time operating system software.
Pauck, Simon James. "Movement control and guidance of an automated underwater vehicle." Thesis, Stellenbosch : University of Stellenbosch, 2010. http://hdl.handle.net/10019.1/4244.
Full textENGLISH ABSTRACT: This thesis presents the design process of the movement control and guidance systems for an automated underwater vehicle (AUV) constructed by the Institute of Maritime Technology in Simon’s Town. The full non-linear mathematical model and simulation environment for the AUV were previously developed in [1]. The design process in this thesis covers an analysis of existing test data and the performance of the current systems in place on the AUV, derivation and analysis of the linear model for the AUV, design of upgraded control and guidance systems, analysis of the new designs including simulation results, practical implementation of the new designs and the results thereof. Over the course of this project a number of flaws were identified in the original control designs and other aspects of the AUV. Most notably, the capability of the AUV is limited owing to its construction, and the current control and guidance methods result in poor movement characteristics. The new control designs are executed through multiple SISO feedback loops, with the most complicated controllers consisting of proportional and integral control. A completely new guidance method was designed which grants theAUVthe ability to track both straight line and circular path segments with no steady state error. These designs were tested in simulation, with results showing good tracking performance, even in the presence of output disturbances. The new designs were implemented on the physical AUV, but testing was limited, with poor results being obtained. The poor test results were caused primarily by the construction of the AUV.
AFRIKAANSE OPSOMMING: Hierdie tesis stel die ontwerpsproses voor vir die bewegingsbeheer- en navigasiestelsels vir ’n outonome duikboot wat gebou is deur die Instituut vir Maritieme Tegnologie in Simonstad. Die volle nie-lineˆere wiskundige model en simulasieomgewing vir die duikboot is voorheen ontwikkel in [1]. Die ontwerpsproses in hierdie tesis behels ’n analise van bestaande toetsdata en van die werksverrigting van die stelsels wat tans op die duikboot ge¨ınstalleer is, die afleiding en analise van ’n lineˆere model vir die duikboot, die ontwerp van verbeterde beheer- en navigasiestelsels, die analise van die nuwe ontwerpe, wat simulasieresultate insluit, die praktiese implementering van die nuwe ontwerpe, en die resultate daarvan. Deur die loop van die projek is ’n aantal tekortkominge ge¨ıdentifiseer in die oorspronklike beheerstelselontwerpe en ander aspekte van die duikboot. Die mees beduidende tekortkominge is dat die vermo¨e van die duikboot beperk word deur die konstruksie daarvan, en dat die huidige beheer- en navigasietegnieke swak bewegingseienskappe lewer. Die nuwe beheerstelselontwerpe is uitgevoer deur ’n aantal enkelintree, enkeluittree terugvoerlusse, waar die mees komplekse beheerders bestaan uit proporsionele en integraalbeheer. ’n Heeltemal nuwe navigasiemetode is ontwerp, wat die duikboot in staat stel om beide reguit lyne en sirkulˆere padsegmente te volg sonder ’n stasionˆere volgfout. Hierdie ontwerpe is getoets in simulasie, waar die resultate goeie volging getoon het, selfs in die teenwoordigheid van uittreeversteurings. Die nuwe ontwerpe is ge¨ımplementeer op die fisiese duikboot, maar beperkte toetse is gedoen, en het swak resultate gelewer. Die swak toetsresultate was hoofsaaklik as gevolg van die konstruksie van die duikboot.
Cowling, Adam Lloyd. "Pitch-Control Predictor-Corrector and Neural Network Ascent Guidance." Thesis, Virginia Tech, 2009. http://hdl.handle.net/10919/32330.
Full textMaster of Science
Tanakitkorn, Kantapon. "Guidance, control and path planning for autonomous underwater vehicles." Thesis, University of Southampton, 2017. https://eprints.soton.ac.uk/412635/.
Full textBouzid, Yasser. "Guidance and control system for autonomous aerial vehicles navigation." Thesis, Université Paris-Saclay (ComUE), 2018. http://www.theses.fr/2018SACLE014.
Full textThis thesis deals with the guidance and control of aerial vehicles, which can also ensure missions in hostile, dangerous environments, or inaccessible workspaces with conventional vehicles. First, we are motivated by the coverage scenario, which is in general a long process, requiring a large number of individuals and specific equipment. However, the nature of sensing coverage requires an aerial vehicle with hovering capabilities. For this purpose, we are interested in multirotors that are considered as a good case study to design, analyze and implement flight control strategies.As matter of fact, many challenges are still open with respect to the coverage scenario such as for instance the feasibility and the optimality when passing through the Points of Interest. In addition, a robust control system is essential to mitigate the adverse effects such as the wind. Moreover, designing a control algorithm, which meet some requirements (simplicity, accuracy, consumed energy, etc.) constitutes a complementary challenge. Then, our work introduces a generic mathematical model for multirotors flying under the effect of wind.In a first part, we propose planners using as a basis the optimal Rapidly-exploring Random Tree (RRT*) algorithm. In fact, in large workspaces, a large number of nodes is generated and then increasing the computation time and the consumed memory. To counter these latter, a removal procedure is involved during the rewiring process. In addition, a multidirectional planner that returns a set of optimal paths from a starting point and a set of objective points is proposed. Our work also introduces an optimal Coverage path-planning (CPP) strategy in a constrained workspace. This one proceeds through a two-phases algorithm. In the first one, a Connected Multi-directional planner is used to define the shortest paths from each point to its neighbors. In the second phase, by means of the pair-wise costs between points, the overall shortest path is obtained by solving a Traveling Salesman Problem using Genetic Algorithms. Then, taking into account the limited on-board energy, a Capacitated-Vehicle Routing Problem is adapted and solved by the savings approach.In a second part, we study the design of an effective control system allowing the vehicle to track a trajectory parameterized in time. On the one hand, we propose an extension to nonlinear systems of the Internal Model Control (NLIMC). Our technique is based on the use of the basic IMC principle to synthesize a nonlinear controller that involves the property of flatness. On the other hand, we propose another form of controller whose apparent structure is a PID but in which the technique of sliding modes is incorporated that will also call the nonlinear PID (NLPID). This combination has the advantage to lead to a good level of robustness provided by the sliding modes and at the same time to a good behavior specified by the PID structure. Besides, as a complement, we present two redundant controllers based on two distinct principles in order to boost and to improve the capabilities of any controller. The first one is based on the Model-Free Control (MFC) approach while the second one is based on Dynamic Sliding Mode Controller (DSMC).Finally, to highlight the performance of these controllers, we have performed a series of tests with several illustrations and scenarios and we have drawn up a comparison table with conventional approaches. The results of both the numerical simulations and the experimentation that are performed on a quadrotor are consistent and seem to be quite promising
Hegarty-Cremer, Solene G. "Spatial control and cell guidance in evolving biological tissues." Thesis, Queensland University of Technology, 2021. https://eprints.qut.edu.au/207246/1/Solene_Hegarty-Cremer_Thesis.pdf.
Full textCorban, J. Eric. "Real-time guidance and propulsion control for single-stage-to-orbit airbreathing vehicles." Diss., Georgia Institute of Technology, 1989. http://hdl.handle.net/1853/12889.
Full textMoon, Jongki. "Mission-based guidance system design for autonomous UAVs." Diss., Atlanta, Ga. : Georgia Institute of Technology, 2009. http://hdl.handle.net/1853/31797.
Full textCommittee 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.
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 textGunbatar, Yakup. "Varying Mass Missile Dynamics, Guidance &." Master's thesis, METU, 2007. http://etd.lib.metu.edu.tr/upload/2/12608977/index.pdf.
Full textconversely, they depend on Mach number, angle of attack, and side slip angle. Consequently, as the change of missile mass, cg point, inertia terms, and stability and aerodynamic coefficients come together apart from flight operation stages, a great number of points need to be taken into account when designing the controller. This makes controlling the missile all the more complicated. In this thesis, first the equations of motion are derived, in which, mass of the missile is not assumed constant. Thus, not only the variation of mass but also the variation of inertias is incorporated in the equations of motion. From the derived v equations of motion, a nonlinear inverse dynamics controller that can achieve desired guidance for a conceptually developed air-to-surface missile has been designed, tested and verified for a modeled missile with six degrees of freedom. For brevity of the study, conceptual design and aerodynamic calculations are not given in detail. Nevertheless, improvements for conceptual design are suggested. As a result, it is shown that the controller works efficiently: the missile is able to hit the target with less than 12 m circular error of probability (CEP). Finally, studies and improvements are proposed.
Hassoun, George Estandy. "A study of observability-enhanced guidance systems /." Title page, contents and abstract only, 1995. http://web4.library.adelaide.edu.au/theses/09PH/09phh355.pdf.
Full textMoran, Patrick J. "Control vane guidance for a ducted-fan unmanned air vehicle." Thesis, Monterey, Calif. : Springfield, Va. Naval Postgraduate School ; Available from National Technical Information Service, 1993. http://handle.dtic.mil/100.2/ADA271957.
Full textThesis advisor(s):Howard, Richard M. ; Shields, Michael K. "June 1993." Includes bibliographical references. Also available online.
Jantapremjit, Pakpong. "A guidance-control approach applied to an autonomous underwater vehicle." Thesis, University of Southampton, 2008. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.494914.
Full textRoddy, D. J. "Application of optimal control to bank-to-turn CLOS guidance." Thesis, Queen's University Belfast, 1985. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.373543.
Full textTracy, Chisholm C. (Chisholm Cain) 1975. "Integrated entry guidance and control for autonomous reusable launch vehicles." Thesis, Massachusetts Institute of Technology, 1999. http://hdl.handle.net/1721.1/8790.
Full textIncludes bibliographical references (p. 163-164).
The guidance and control approach employed on current reusable launch vehicles is based on classical control techniques developed for the Space Shuttle more than 20 years ago. This approach partitions the guidance and control tasks into separate loops resulting in a complex control architecture that can be difficult to adapt to new vehicle designs. A new entry guidance and control technique based on time-invariant linear quadratic regulator theory is presented. This approach integrates the guidance and control functions into a single multivatiable control loop that theoretically should yield improved performance over classical designs and greatly simplify the control architecture. This research is part of a larger effort to develop a next generation guidance and control system that can be implemented onboard the vehicle to increase robustness to unexpected flight conditions and abort scenarios. The integrated guidance and control algorithm is implemented in a nonlinear simulation of the Orbital Sciences X-34, a testbed for reusable launch vehicle technology. The performance and robustness of the linear quadratic regulator algorithm is compared to the classical guidance and control system developed by Orbital Sciences. The results indicate that the overall performance and robustness potential of the integrated guidance and control technique is similar to that of the classical approach. The integration of guidance, control, lateral, and longitudinal dynamics is not observed to yield significant performance improvements under the conditions tested. However, the integrated approach provides an equally effective, simplified control architecture that could allow onboard calculation of control gains in the future to yield a more robust system.
by Chisholm C. Tracy.
S.M.
Hamel, Jean-François. "Autonomous guidance & control of earth-orbiting formation flying spacecraft." Thèse, Université de Sherbrooke, 2007. http://savoirs.usherbrooke.ca/handle/11143/1810.
Full textMiller, Daniel(Daniel Martin). "Low-thrust Spacecraft guidance and control using proximal policy optimization." Thesis, Massachusetts Institute of Technology, 2020. https://hdl.handle.net/1721.1/127071.
Full textCataloged from the official PDF of thesis.
Includes bibliographical references (pages 101-107).
Artificial intelligence is a rapidly developing field that promises to revolutionize spaceflight with greater robotic autonomy and innovative decision making. However, it remains to be determined which applications are best addressed using this new technology. In the coming decades, future spacecraft will be required to possess autonomous guidance and control in the complex, nonlinear dynamical regimes of cis-lunar space. In the realm of trajectory design, current methods struggle with local minima, and searching large solutions spaces. This thesis investigates the use of the Reinforcement Learning (RL) algorithm Proximal Policy Optimization (PPO) for solving low-thrust spacecraft guidance and control problems. First, an agent is trained to complete a 302 day mass-optimal low-thrust transfer between the Earth and Mars. This is accomplished while only providing the agent with information regarding its own state and that of Mars. By comparing these results to those generated by the Evolutionary Mission Trajectory Generator (EMTG), the optimality of the trajectory designed using PPO is assessed. Next, an agent is trained as an onboard regulator capable of correcting state errors and following pre-calculated transfers between libration point orbits. The feasibility of this method is examined by evaluating the agent's ability to correct varying levels of initial state error via Monte Carlo testing. The generalizability of the agent's control solution is appraised on three similar transfers of increasing difficulty not seen during the training process. The results show both the promise of the proposed PPO methodology and its limitations, which are discussed.
by Daniel Miller.
S.M.
S.M. Massachusetts Institute of Technology, Department of Aeronautics and Astronautics
Thacker, Gary W., and Wayne E. Coates. "Practical Considerations of Precision Guidance and Weed Control in Cotton." College of Agriculture, University of Arizona (Tucson, AZ), 1995. http://hdl.handle.net/10150/210294.
Full textEng, Pillar C. S. "Path planning, guidance and control for a UAV forced landing." Thesis, Queensland University of Technology, 2011. https://eprints.qut.edu.au/43898/1/Pillar_Eng_Thesis.pdf.
Full textBaxter, Jeremy. "Fuzzy logic control of an automated guided vehicle." Thesis, Durham University, 1994. http://etheses.dur.ac.uk/5817/.
Full textWatanabe, Yoko. "Stochastically optimized monocular vision-based navigation and guidance." Diss., Atlanta, Ga. : Georgia Institute of Technology, 2007. http://hdl.handle.net/1853/22545.
Full textCommittee Chair: Johnson, Eric; Committee Co-Chair: Calise, Anthony; Committee Member: Prasad, J.V.R.; Committee Member: Tannenbaum, Allen; Committee Member: Tsiotras, Panagiotis.