Applied fast maneuvering using a hybrid controller
Author(s)
Stanley, Byron M. (Byron McCall), 1977-![Thumbnail](/bitstream/handle/1721.1/8540/49013720-MIT.pdf.jpg?sequence=5&isAllowed=y)
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Other Contributors
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Advisor
Marc McConley and Jean-Jacques Slotine.
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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).
Date issued
2001Department
Massachusetts Institute of Technology. Department of Mechanical EngineeringPublisher
Massachusetts Institute of Technology
Keywords
Mechanical Engineering.