Presented By: Aerospace Engineering
AE Defense: Practicable Approaches to Guidance and Control of Aerospace Systems
Aerospace Engineering PhD Candidate: Alex Walsh, Dissertation Chair: Asst. Prof. James R. Forbes
Aerospace Engineering PhD Candidate: Alex Walsh, Dissertation Chair: Asst. Prof. James R. Forbes
This thesis studies guidance and control of aerospace systems. Guidance answers the question “Where should I be?” and in particular, this thesis examines constrained extremum-seeking guidance. This type of guidance is part of a class of algorithms that drives a system to the maximum or minimum of a performance function, where the exact relation between the function’s input and output is unknown. This thesis abstracts the problem of extremum-seeking guidance to optimization on constrained matrix manifolds. The performance function is optimized on the manifold using gradient-based methods, where a novel constrained Kalman filter is used to estimate gradients. Once guidance determines where a system should be, control answers the question, “How do I get there?” Aerospace systems are typically nonlinear, which makes control more challenging. The Passivity and Conic Sector Theorems, two input-output theories, are used to synthesize nonlinear controllers that take advantage of well-established linear control techniques. These novel controllers guarantee closed-loop input-output stability of nonlinear systems even if an approximate plant model is used for controller synthesis. The developed algorithms are applied to aircraft, spacecraft, and robotic systems in simulation and experimentation.
Journal Publications
A. Walsh and J. R. Forbes. “Interior conic polytopic system analysis and control,” in preparation for IEEE Transactions on Automatic Control, 2017.
A. Walsh and J. R. Forbes. “Constrained attitude control on the special orthogonal group via semidefinite programming,” submitted to Journal of Guidance, Control, and Dynamics on 9 August 2017, under review, 2017-08-G003259.
A. Walsh and J. R. Forbes. “Very strictly passive controller synthesis with affine parameter dependence,” IEEE Transactions on Automatic Control, accepted for publication on 30 August 2017, 16-1694.
A. Walsh, S. A. Chee, J. R. Forbes, and J. J. Ryan. “Kalman-filter-based unconstrained and constrained extremum-seeking guidance on SO(3),” Journal of Guidance, Control, and Dynamics, vol. 40, no. 9, pp. 2260–2271, 2017.
A. Walsh and J. R. Forbes. “Analysis and synthesis of input strictly passive gain-scheduled controllers,” Journal of the Franklin Institute, vol. 354, no. 3, pp. 1285–1301, 2017.
A. Walsh and J. R. Forbes. “A very strictly passive gain-scheduled controller: theory and experiments,” IEEE/ASME Transactions on Mechatronics, vol. 21, no. 6, pp. 2817–2826, 2016.
A. Walsh and J. R. Forbes. “Modeling and control of flexible telescoping manipulators,” IEEE Transactions on Robotics, vol. 31, no. 4, pp. 936–947, 2015.
Conference Publications
A. Walsh, J. J. Ryan, and J. R. Forbes. “Constrained extremum-seeking guidance using a constrained Kalman filter,” Proc. of the 2017 American Control Conference, Seattle, pp. 1290–1295, WA, 2017.
A.Walsh, S. Di Cairano and A. Weiss “MPC for coupled station keeping, attitude control, and momentum management of low-thrust geostationary satellites,” Proc. of the 2016 American Control Conference, Boston, MA, pp. 7408–7413, 2016.
F. R. Hogan, J. R. Forbes and A. Walsh. “Dynamic modeling of a rolling flexible sphere” Proc. of the 11th International Conference on Multibody Systems, Nonlinear Dynamics & Control (MSNDC), Boston, MA, 2015.
A. Walsh and J. R. Forbes. “Modeling and control of a wind energy harvesting kite with flexible cables,” Proc. of the 2015 American Control Conference, Chicago, IL, Invited paper, pp. 2383–2388, 2015.
A. Walsh, R. E. Zlotnik and J. R. Forbes. “Modelling of spacecraft with N reaction wheels using arbitrary attitude parameterizations,” Advances in the Astronautical Sciences , vol. 157, 945–956, 2016.
A. Walsh and J. R. Forbes. “Dynamic modeling and control of flexible robotic space manipulators with telescoping booms,” Proc. of the 63rd International Astronautical Congress, Naples, Italy IAC-12, C1, 8, 7, x13683, 2012.
This thesis studies guidance and control of aerospace systems. Guidance answers the question “Where should I be?” and in particular, this thesis examines constrained extremum-seeking guidance. This type of guidance is part of a class of algorithms that drives a system to the maximum or minimum of a performance function, where the exact relation between the function’s input and output is unknown. This thesis abstracts the problem of extremum-seeking guidance to optimization on constrained matrix manifolds. The performance function is optimized on the manifold using gradient-based methods, where a novel constrained Kalman filter is used to estimate gradients. Once guidance determines where a system should be, control answers the question, “How do I get there?” Aerospace systems are typically nonlinear, which makes control more challenging. The Passivity and Conic Sector Theorems, two input-output theories, are used to synthesize nonlinear controllers that take advantage of well-established linear control techniques. These novel controllers guarantee closed-loop input-output stability of nonlinear systems even if an approximate plant model is used for controller synthesis. The developed algorithms are applied to aircraft, spacecraft, and robotic systems in simulation and experimentation.
Journal Publications
A. Walsh and J. R. Forbes. “Interior conic polytopic system analysis and control,” in preparation for IEEE Transactions on Automatic Control, 2017.
A. Walsh and J. R. Forbes. “Constrained attitude control on the special orthogonal group via semidefinite programming,” submitted to Journal of Guidance, Control, and Dynamics on 9 August 2017, under review, 2017-08-G003259.
A. Walsh and J. R. Forbes. “Very strictly passive controller synthesis with affine parameter dependence,” IEEE Transactions on Automatic Control, accepted for publication on 30 August 2017, 16-1694.
A. Walsh, S. A. Chee, J. R. Forbes, and J. J. Ryan. “Kalman-filter-based unconstrained and constrained extremum-seeking guidance on SO(3),” Journal of Guidance, Control, and Dynamics, vol. 40, no. 9, pp. 2260–2271, 2017.
A. Walsh and J. R. Forbes. “Analysis and synthesis of input strictly passive gain-scheduled controllers,” Journal of the Franklin Institute, vol. 354, no. 3, pp. 1285–1301, 2017.
A. Walsh and J. R. Forbes. “A very strictly passive gain-scheduled controller: theory and experiments,” IEEE/ASME Transactions on Mechatronics, vol. 21, no. 6, pp. 2817–2826, 2016.
A. Walsh and J. R. Forbes. “Modeling and control of flexible telescoping manipulators,” IEEE Transactions on Robotics, vol. 31, no. 4, pp. 936–947, 2015.
Conference Publications
A. Walsh, J. J. Ryan, and J. R. Forbes. “Constrained extremum-seeking guidance using a constrained Kalman filter,” Proc. of the 2017 American Control Conference, Seattle, pp. 1290–1295, WA, 2017.
A.Walsh, S. Di Cairano and A. Weiss “MPC for coupled station keeping, attitude control, and momentum management of low-thrust geostationary satellites,” Proc. of the 2016 American Control Conference, Boston, MA, pp. 7408–7413, 2016.
F. R. Hogan, J. R. Forbes and A. Walsh. “Dynamic modeling of a rolling flexible sphere” Proc. of the 11th International Conference on Multibody Systems, Nonlinear Dynamics & Control (MSNDC), Boston, MA, 2015.
A. Walsh and J. R. Forbes. “Modeling and control of a wind energy harvesting kite with flexible cables,” Proc. of the 2015 American Control Conference, Chicago, IL, Invited paper, pp. 2383–2388, 2015.
A. Walsh, R. E. Zlotnik and J. R. Forbes. “Modelling of spacecraft with N reaction wheels using arbitrary attitude parameterizations,” Advances in the Astronautical Sciences , vol. 157, 945–956, 2016.
A. Walsh and J. R. Forbes. “Dynamic modeling and control of flexible robotic space manipulators with telescoping booms,” Proc. of the 63rd International Astronautical Congress, Naples, Italy IAC-12, C1, 8, 7, x13683, 2012.
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