Applied fast maneuvering using a hybrid controller
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2001.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2005
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| Online Access: | http://hdl.handle.net/1721.1/8540 |
| _version_ | 1826206017636007936 |
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| author | Stanley, Byron M. (Byron McCall), 1977- |
| author2 | Marc McConley and Jean-Jacques Slotine. |
| author_facet | Marc McConley and Jean-Jacques Slotine. Stanley, Byron M. (Byron McCall), 1977- |
| author_sort | Stanley, Byron M. (Byron McCall), 1977- |
| collection | MIT |
| description | Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2001. |
| first_indexed | 2024-09-23T13:22:41Z |
| format | Thesis |
| id | mit-1721.1/8540 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T13:22:41Z |
| publishDate | 2005 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/85402019-04-10T08:47:10Z Applied fast maneuvering using a hybrid controller Stanley, Byron M. (Byron McCall), 1977- Marc McConley and Jean-Jacques Slotine. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Mechanical Engineering. Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2001. Includes bibliographical references (leaves 116-117). 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. by Byron Stanley. S.M. 2005-08-23T21:05:48Z 2005-08-23T21:05:48Z 2001 2001 Thesis http://hdl.handle.net/1721.1/8540 49013720 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 117 leaves 7037179 bytes 7036938 bytes application/pdf application/pdf application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Stanley, Byron M. (Byron McCall), 1977- Applied fast maneuvering using a hybrid controller |
| title | Applied fast maneuvering using a hybrid controller |
| title_full | Applied fast maneuvering using a hybrid controller |
| title_fullStr | Applied fast maneuvering using a hybrid controller |
| title_full_unstemmed | Applied fast maneuvering using a hybrid controller |
| title_short | Applied fast maneuvering using a hybrid controller |
| title_sort | applied fast maneuvering using a hybrid controller |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/8540 |
| work_keys_str_mv | AT stanleybyronmbyronmccall1977 appliedfastmaneuveringusingahybridcontroller |