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Quaternion error-based optimal control applied to pinpoint landing.

Ghiglino, Pablo (2016) Quaternion error-based optimal control applied to pinpoint landing. Doctoral thesis, University of Surrey.

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Abstract

Accurate control techniques for pinpoint planetary landing - i.e., the goal of achieving landing errors in the order of 100m for unmanned missions - is a complex problem that have been tackled in different ways in the available literature. Among other challenges, this kind of control is also affected by the well known trade-off in UAV control that for complex underlying models the control is sub-optimal, while optimal control is applied to simplifed models. The goal of this research has been the development new control algorithms that would be able to tackle these challenges and the result are two novel optimal control algorithms namely: OQTAL and HEX2OQTAL. These controllers share three key properties that are thoroughly proven and shown in this thesis; stability, accuracy and adaptability. Stability is rigorously demonstrated for both controllers. Accuracy is shown in results of comparing these novel controllers with other industry standard algorithms in several different scenarios: there is a gain in accuracy of at least 15% for each controller, and in many cases much more than that. A new tuning algorithm based on swarm heuristics optimisation was developed as well as part of this research in order to tune in an online manner the standard Proportional-Integral-Derivative (PID) controllers used for benchmarking. Finally, adaptability of these controllers can be seen as a combination of four elements: mathematical model extensibility, cost matrices tuning, reduced computation time required and finally no prior knowledge of the navigation or guidance strategies needed. Further simulations in real planetary landing trajectories has shown that these controllers have the capacity of achieving landing errors in the order of pinpoint landing requirements, making them not only very precise UAV controllers, but also potential candidates for pinpoint landing unmanned missions.

Item Type: Thesis (Doctoral)
Divisions : Theses
Authors :
AuthorsEmailORCID
Ghiglino, Pablopablo.ghiglino@gmail.comUNSPECIFIED
Date : 29 January 2016
Funders : self funded
Contributors :
ContributionNameEmailORCID
Thesis supervisorPalmer, Philp.palmer@surrey.ac.ukUNSPECIFIED
Uncontrolled Keywords : Pinpoint landing, quaternion, optimal control, quaternion error, LQR, UAV, heuristic optimisation, PID tuning, six degree of freedom control, planetary missions.
Depositing User : Pablo Ghiglino
Date Deposited : 09 Feb 2016 10:35
Last Modified : 09 Feb 2016 10:35
URI: http://epubs.surrey.ac.uk/id/eprint/809777

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