Applied fast maneuvering using a hybrid controller
Name
49013720-MIT.pdf
Description
Full printable version
Size
10.96 MB
Format
Adobe PDF
Checksum (MD5)
f0281354a6d66cc7ee64ec00e16075c0
Author(s)
Stanley, Byron M. (Byron McCall), 1977-
Advisor(s)
Marc McConley and Jean-Jacques Slotine.
Date Issued
2001
Publisher
Massachusetts Institute of Technology
Abstract
Guidance and control of autonomous vehicles is a difficult and often calculation-intensive process. Current control approaches limit the functionality of autonomous vehicles. The approach applied in this thesis is to use a discrete-state model of the vehicle dynamics to build a hybrid automaton. By creating a set of stable trim states and building a library of maneuvers, the on-line optimization problem was made significantly simpler. The implementation of the control methodology for an autonomous helicopter was expanded to include three-dimensional path planning and pilot-inspired maneuvers. The hybrid controller was then adapted and applied to an unpowered parafoil in simulation. The parafoil hybrid controller was also implemented on a DSP chip and used in a real-time DSP-processor-based simulation of the system. This demonstrated the ability to apply the hybrid controller logic to a variety of vehicles.
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2001.
Includes bibliographical references (leaves 116-117).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
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