Multi-Spacecraft Attitude Path Planning Using Consensus with LMI-Based Exclusion Constraints PDF Download
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Author: Innocent Okoloko
Publisher:
ISBN:
Category : Science
Languages : en
Pages :
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Book Description
Space missions involving multi-vehicle teams require the cooperative navigation and attitude slewing of the spacecraft or satellites, for such purposes as interferometry and optimal sensor coverage. This introduces extra constraints of exclusion zones between the spacecraft, in addition to the default exclusion constraints already introduced by damaging or blinding celestial objects. In this work, we present a quaternion-based attitude consensus protocol by using the communication topology of the spacecraft team. By using the Laplacian matrix of their communication graph and a semidefinite program, a synthesis of a time-varying optimal stochastic matrix P is done, which is used to generate various consensus and cooperative attitude trajectories from the initial attitudes of the spacecraft. The concept of quaternion-based quadratically constrained attitude control is then employed to satisfy cone avoidance constraints, where exclusion zones are identified, expressed as linear matrix inequalities (LMI), and solved by semidefinite programming (SDP).
Author: Innocent Okoloko
Publisher:
ISBN:
Category : Science
Languages : en
Pages :
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Book Description
Space missions involving multi-vehicle teams require the cooperative navigation and attitude slewing of the spacecraft or satellites, for such purposes as interferometry and optimal sensor coverage. This introduces extra constraints of exclusion zones between the spacecraft, in addition to the default exclusion constraints already introduced by damaging or blinding celestial objects. In this work, we present a quaternion-based attitude consensus protocol by using the communication topology of the spacecraft team. By using the Laplacian matrix of their communication graph and a semidefinite program, a synthesis of a time-varying optimal stochastic matrix P is done, which is used to generate various consensus and cooperative attitude trajectories from the initial attitudes of the spacecraft. The concept of quaternion-based quadratically constrained attitude control is then employed to satisfy cone avoidance constraints, where exclusion zones are identified, expressed as linear matrix inequalities (LMI), and solved by semidefinite programming (SDP).
Author: Rastislav Róka
Publisher: BoD – Books on Demand
ISBN: 1789235782
Category : Science
Languages : en
Pages : 200
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Book Description
The book Advanced Path Planning for Mobile Entities provides a platform for practicing researchers, academics, PhD students, and other scientists to design, analyze, evaluate, process, and implement diversiform issues of path planning, including algorithms for multipath and mobile planning and path planning for mobile robots. The nine chapters of the book demonstrate capabilities of advanced path planning for mobile entities to solve scientific and engineering problems with varied degree of complexity.
Author: Innocent Okoloko
Publisher:
ISBN:
Category : Technology
Languages : en
Pages :
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Book Description
Some space missions involve cooperative multi-vehicle teams, for such purposes as interferometry and optimal sensor coverage, for example, NASA Terrestrial Planet Finder Mission. Cooperative navigation introduces extra constraints of exclusion zones between the spacecraft to protect them from damaging each other. This is in addition to external exclusion constraints introduced by damaging or blinding celestial objects. This work presents a quaternion-based attitude consensus protocol, using the communication topology of the team of spacecraft. The resulting distributed Laplacians of their communication graph are applied by semidefinite programming (SDP), to synthesize a series of time-varying optimal stochastic matrices. The matrices are used to generate various cooperative attitude maneuvers from the initial attitudes of the spacecraft. Exclusion constraints are satisfied by quaternion-based quadratically constrained attitude control (Q-CAC), where both static and dynamic exclusion zones are identified every time step, expressed as time-varying linear matrix inequalities (LMI) and solved by semidefinite programming.
Author: Innocent Okoloko
Publisher:
ISBN:
Category : Science
Languages : en
Pages :
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Book Description
The problem of path planning with collision avoidance for autonomous flying vehicles will become more critical as the density of such vehicles increase in the skies. Global aerial navigation paths can be modeled as a path-planning problem on a unit sphere. In this work, we apply consensus theory and semidefinite programming to constrained multi-path planning with collision avoidance for a team of communicating vehicles navigating on a sphere. Based on their communication graph, each vehicle individually synthesizes a time-varying Laplacian-like matrix which drives each of them from their initial positions to consensus positions on the surface of the sphere. The solution trajectories obtained on the unit sphere are transformed back to actual vehicle coordinates. Formation configurations are realized via consensus theory, while collision avoidance is realized via semidefinite programming. A Lyapunov-based stability analysis is also provided, together with simulation results to demonstrate the effectiveness of the approach.
Author: George Dekoulis
Publisher: BoD – Books on Demand
ISBN: 1789232821
Category : Technology & Engineering
Languages : en
Pages : 260
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Book Description
Space has always been intriguing people's imagination. However, space flight has only been feasible over the last 60 years. The collective effort of distinguished international researchers, within the field of space flight, has been incorporated into this book suitable to the broader audience. The book has been edited by Prof. George Dekoulis, Aerospace Engineering Institute (AEI), Cyprus, an expert on the state-of-the-art implementations of reconfigurable space physics systems. The book consists of six sections, namely, "Introduction," "Spacecraft Simulators," "Spacecraft Navigation," "Spacecraft Propulsion," "Suborbital Flight," and "Deep-Space Flight." We hope that this book will be beneficial for professionals, researchers, and academicians and inspires the younger generations into pursuing relevant academic studies and professional careers within the space industry.
Author: Asen L. Dontchev
Publisher: Springer
ISBN: 149391037X
Category : Mathematics
Languages : en
Pages : 495
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Book Description
The implicit function theorem is one of the most important theorems in analysis and its many variants are basic tools in partial differential equations and numerical analysis. This second edition of Implicit Functions and Solution Mappings presents an updated and more complete picture of the field by including solutions of problems that have been solved since the first edition was published, and places old and new results in a broader perspective. The purpose of this self-contained work is to provide a reference on the topic and to provide a unified collection of a number of results which are currently scattered throughout the literature. Updates to this edition include new sections in almost all chapters, new exercises and examples, updated commentaries to chapters and an enlarged index and references section.
Author: Mao, Guoqiang
Publisher: IGI Global
ISBN: 1605663972
Category : Computers
Languages : en
Pages : 526
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Book Description
Wireless localization techniques are an area that has attracted interest from both industry and academia, with self-localization capability providing a highly desirable characteristic of wireless sensor networks. Localization Algorithms and Strategies for Wireless Sensor Networks encompasses the significant and fast growing area of wireless localization techniques. This book provides comprehensive and up-to-date coverage of topics and fundamental theories underpinning measurement techniques and localization algorithms. A useful compilation for academicians, researchers, and practitioners, this Premier Reference Source contains relevant references and the latest studies emerging out of the wireless sensor network field.
Author: Mufeed Mahmoud
Publisher: Springer Science & Business Media
ISBN: 3540003185
Category : Technology & Engineering
Languages : en
Pages : 238
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Book Description
Modern technological systems rely on sophisticated control functions to meet increased performance requirements. For such systems, Fault Tolerant Control Systems (FTCS) need to be developed. Active FTCS are dependent on a Fault Detection and Identification (FDI) process to monitor system performance and to detect and isolate faults in the systems. The main objective of this book is to study and to validate some important issues in real-time Active FTCS by means of theoretical analysis and simulation. Several models are presented to achieve this objective, taking into consideration practical aspects of the system to be controlled, performance deterioration in FDI algorithms, and limitations in reconfigurable control laws.
Author: Rhonda Phillips
Publisher: Routledge
ISBN: 1134482329
Category : Architecture
Languages : en
Pages : 682
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Book Description
Beginning with the foundations of community development, An Introduction to Community Development offers a comprehensive and practical approach to planning for communities. Road-tested in the authors’ own teaching, and through the training they provide for practicing planners, it enables students to begin making connections between academic study and practical know-how from both private and public sector contexts. An Introduction to Community Development shows how planners can utilize local economic interests and integrate finance and marketing considerations into their strategy. Most importantly, the book is strongly focused on outcomes, encouraging students to ask: what is best practice when it comes to planning for communities, and how do we accurately measure the results of planning practice? This newly revised and updated edition includes: increased coverage of sustainability issues, discussion of localism and its relation to community development, quality of life, community well-being and public health considerations, and content on local food systems. Each chapter provides a range of reading materials for the student, supplemented with text boxes, a chapter outline, keywords, and reference lists, and new skills based exercises at the end of each chapter to help students turn their learning into action, making this the most user-friendly text for community development now available.
Author: Richard R. Lindsey
Publisher: John Wiley & Sons
ISBN: 1118044754
Category : Business & Economics
Languages : en
Pages : 406
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Book Description
Praise for How I Became a Quant "Led by two top-notch quants, Richard R. Lindsey and Barry Schachter, How I Became a Quant details the quirky world of quantitative analysis through stories told by some of today's most successful quants. For anyone who might have thought otherwise, there are engaging personalities behind all that number crunching!" --Ira Kawaller, Kawaller & Co. and the Kawaller Fund "A fun and fascinating read. This book tells the story of how academics, physicists, mathematicians, and other scientists became professional investors managing billions." --David A. Krell, President and CEO, International Securities Exchange "How I Became a Quant should be must reading for all students with a quantitative aptitude. It provides fascinating examples of the dynamic career opportunities potentially open to anyone with the skills and passion for quantitative analysis." --Roy D. Henriksson, Chief Investment Officer, Advanced Portfolio Management "Quants"--those who design and implement mathematical models for the pricing of derivatives, assessment of risk, or prediction of market movements--are the backbone of today's investment industry. As the greater volatility of current financial markets has driven investors to seek shelter from increasing uncertainty, the quant revolution has given people the opportunity to avoid unwanted financial risk by literally trading it away, or more specifically, paying someone else to take on the unwanted risk. How I Became a Quant reveals the faces behind the quant revolution, offering you?the?chance to learn firsthand what it's like to be a?quant today. In this fascinating collection of Wall Street war stories, more than two dozen quants detail their roots, roles, and contributions, explaining what they do and how they do it, as well as outlining the sometimes unexpected paths they have followed from the halls of academia to the front lines of an investment revolution.
