Graduate Thesis Or Dissertation
 

Optimal soaring by a small autonomous glider

Öffentlich Deposited

Herunterladbarer Inhalt

PDF Herunterladen
https://ir.library.oregonstate.edu/concern/graduate_thesis_or_dissertations/4x51hm98b

Descriptions

Attribute NameValues
Creator
Abstract
  • Extending the flight time of an autonomous unmanned air vehicle by soaring is considered. A suboptimal controller is developed and successful static soaring is demonstrated with a 6 degree of freedom glider model. Altitude gain rates of between ¼ and ½ m/s are achieved with this simple implementation. A hybrid optimal trajectory generation algorithm is developed and used to find optimal closed cycles in typical wind conditions using a point mass model. The algorithm is shown to be robust to a poor initial guess, with computational performance comparable to a common direct shooting algorithm. A receding horizon optimal controller strategy is investigated for the problem of autonomous soaring. An efficient Riccatti recursion algorithm is used to determine the next step in the Newton Iteration of the Non-Linear optimization problem. A real time strategy for optimal soaring is developed and shown to perform very well for a point mass model, resulting in repeatable trajectories with significant altitude gain. Sensitivity to errors including wind model errors is investigated. The real time algorithm was found to be insensitive to reasonable errors.
License
Resource Type
Date Available
Date Issued
Degree Level
Degree Name
Degree Field
Degree Grantor
Commencement Year
Advisor
Committee Member
Academic Affiliation
Non-Academic Affiliation
Subject
Urheberrechts-Erklärung
Publisher
Language
File Format
File Extent
  • 3074131 bytes
Replaces

Beziehungen

Parents:

This work has no parents.

In Collection:

Artikel

Miniaturansicht Titel Hochladedatum Sichtbarkeit Aktionen
file details DISSERTATION.pdf 2017-08-14 Öffentlich Herunterladen