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Fast and Resilient Optimization-Base...

Elango, Purnanand,

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Fast and Resilient Optimization-Based Control With Spacecraft Applications /

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Fast and Resilient Optimization-Based Control With Spacecraft Applications // Purnanand Elango.
作者:	Elango, Purnanand,
面頁冊數:	1 electronic resource (224 pages)
附註:	Source: Dissertations Abstracts International, Volume: 86-03, Section: B.
Contained By:	Dissertations Abstracts International86-03B.
標題:	Aerospace engineering. -
電子資源:	https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=31490086
ISBN:	9798384097754

Fast and Resilient Optimization-Based Control With Spacecraft Applications /
Elango, Purnanand,

Fast and Resilient Optimization-Based Control With Spacecraft Applications /Purnanand Elango. - 1 electronic resource (224 pages)

Source: Dissertations Abstracts International, Volume: 86-03, Section: B.

Trajectory optimization, which forms a key component of modern guidance, navigation, and control (GNC) systems, occupies the middle layer within a three-layer hierarchy, where the top layer is mission planning (or high-level decision making) and the bottom layer consists of low-level computation in the form of general-purpose solvers for optimization problems and feedback controllers. In this dissertation, we develop fast and resilient optimization-based solution methods that cover the full stack---spanning the three layers and tightly integrating them---while remaining anchored to the middle layer. First, we develop a convergence-guaranteed, real-time-capable solution method for nonconvex trajectory optimization, based on sequential convex programming (SCP) and isoperimetric constraint reformulation, that ensures continuous-time path constraint satisfaction. Next, we customize a first-order conic optimization algorithm, by exploiting the sparsity structure of trajectory optimization problems, to obtain a real-time-capable solver implementation that is suitable for embedded applications. Consequently, the overhead of a parser layer between the middle and bottom layers is eliminated. Finally, we embed a class of mission requirements (to ensure resilience to unmodeled uncertainties and contingencies) within a trajectory optimization problem, which can then be solved using the solution methods that we developed. We demonstrate the suite of solution methods via numerical examples based on real-world optimal control applications: precision six-degree-of-freedom (6-DoF) rocket landing, quadrotor motion planning, dynamic obstacle avoidance, and three-degree-of-freedom (3-DoF) rocket landing with lossless convexification.Furthermore, we develop optimization-based closed-loop control strategies specialized to spacecraft applications in the cislunar space, such as station keeping, autonomous optical navigation, and passively-safe rendezvous on the near rectilinear halo orbit (NRHO). Again, the motivation is to design solution methods that combine two layers of the hierarchy---(middle) feedforward trajectory optimization and (bottom) feedback control. We demonstrate that exploiting properties of the dynamic behavior of the system and its environment is useful for designing lightweight algorithms (suitable for onboard deployment) that can deliver the required performance.

English

ISBN: 9798384097754Subjects--Topical Terms:

1002622
Aerospace engineering.
Subjects--Index Terms:

Sequential convex programming

Fast and Resilient Optimization-Based Control With Spacecraft Applications /
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