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Predictive Path-Following Control for Fixed-Wing UAVs Using the qLMPC Framework in the Presence of Wind Disturbances

Predictive Path-Following Control for Fixed-Wing UAVs Using ...

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AIAA SciTech Forum

作者： Samir, Ahmed Calderon, Horacio Martinez Werner, Herbert Herrmann, Benjamin Thielecke, Frank Hamburg Univ Technol Inst Control Syst Hamburg Germany Hamburg Univ Technol Inst Aircraft Syst Engn Hamburg Germany

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

This paper presents a cascaded approach for a predictive path-following scheme using quasi-linear parameter-varying model predictive control (qLMPC) applied to a 25 kg unmanned aerobatic aircraft. The quasi-linear parameter-varying (qLPV) representation provides a semi-linear model of the nonlinear system, while fast solvers are utilized to solve quadratic optimization problems (QOPs) in milliseconds. To incorporate integral action and overcome wind disturbances, a velocity-based linearization of the model is employed. Two scenarios with nine waypoints each are evaluated using a hybrid strategy that combines arc-length parameterization with cubic splines and a synthetic waypoint path-planner. The path-following strategy is applied to both simplified kinematic and high-fidelity models of the aircraft, with constant wind in the first scenario and time-varying wind in the second scenario. The algorithm achieves good performance in both scenarios with short computation times. Lastly, a performance analysis of the strategy with the two path-planning techniques is presented.

关键词： Proportional Integral Derivative Path Planning Aerobatic Aircraft Nonlinear Systems Airspeed sequential quadratic programming Ailerons Fixed Wing Aircraft Control Moment Gyroscope Remotely Piloted Aircraft

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Efficient Global Optimization with Gradient Finish for Design Under Uncertainty

Efficient Global Optimization with Gradient Finish for Desig...

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AIAA SciTech Forum

作者： DiGregorio, Nicholas J. Wright, Aaron H. NASA Langley Res Ctr Vehicle Anal Branch Syst Anal & Concepts Directorate Hampton VA 23681 USA

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

The Efficient Global Optimization (EGO) algorithm is extended to include a gradient-descentbased finish upon reaching a threshold value of the expected improvement function. Emphasis is placed on efficient evaluation of local gradients using Kriging models during the gradientbased finish to enable application to design under uncertainty (DUU) problems. The modified algorithm is applied to both the well-known Rosenbrock function and a more challenging hypersonic inlet design under uncertainty problem. Results demonstrate improvement in locating the global optimum compared to the classical implementation of EGO, as well as a reduced number of true function evaluations compared to pure gradient-based algorithms. For the Rosenbrock function, a global optimum is returned using an average of 12% fewer function calls than a gradient-based optimizer with comparable tolerances. For the design under uncertainty problem, a global optimum is found using an average of 75% fewer function calls than a gradient-based optimizer. Global Pareto fronts of multiobjective DUU problems are obtained at little additional cost after a single optimization is complete.

关键词： Cumulative Distribution Function Hypersonic Inlets Uncertainty Quantification sequential quadratic programming Freestream Mach Number Space Exploration Multidisciplinary Design and Optimization Angle of Attack Thermodynamics Oblique Shock Wave

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A Suboptimal Control Strategy for the Start-up of the Open Plate Reactor

A Suboptimal Control Strategy for the Start-up of the Open P...

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10th International Conference on Control, Automation, Robotics and Vision

作者： Kaya, Sener A. Attia, S. A. Raisch, J. Dalarna Univ Dept Elect Engn Borlange Sweden Tech Univ Berlin Control Syst Grp Berlin Germany

ISBN: (纸本)9781424422869

In this paper the application of Nonlinear Model Predictive Control (NMPC) to a chemical reactor, namely the Open Plate Reactor(OPR), is considered. A control strategy which allows a safe start-up operation of the reactor and provides an easy handling of system restrictions and nonlinearities, is proposed. An efficient open-loop parameterization of the control signals is used to further reduce the size of the optimization variables. It is shown that the NMPC algorithm developed gives satisfactory operation and the reduced open loop parameterization results in a sufficiently rich closed loop behavior.

关键词： chemical reactor heat exchange plate reactor start-up control nonlinear model predictive control efficient open loop parameterization sequential quadratic programming

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Iteratively feasible optimal spacecraft guidance with non-convex path constraints using convex optimization

Iteratively feasible optimal spacecraft guidance with non-co...

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AIAA Science and Technology Forum and Exposition (AIAA SciTech)

作者： Misra, Gaurav Bai, Xiaoli Rutgers State Univ Dept Mech & Aerosp Engn Piscataway NJ 08854 USA

ISBN: (数字)9781624105951

ISBN: (纸本)9781624105951

In this paper, a convex optimization based approach is proposed for solving the relative spacecraft guidance problem with non-convex obstacle avoidance constraints akin to sequential convex programming approaches proposed in literature, which require solving a sequence of simpler convex programs. However, contrary to existing approaches, the method proposed in this paper ensures that the iterates remain feasible as long as the first iterate is feasible and achieves monotonic convergence of the objective function. Significantly, the proposed methodology leads to anytime solutions, i.e., the computation can be aborted whenever needed and still return a quality solution, which is highly desirable for real-time operations due to potential unexpected situations and limited computation resources. However, most existing methods only guarantee the correctness of the solution when they converge, whereas preconvergence solution obtained can be useless or even dangerous when applied. The underlying methodology assumes linear dynamics with polynomial path constraints and relies on the convex-concave procedure and sum-of-squares programming to obtain tractable inner convex approximations. To validate the efficacy of the proposed method, a relative spacecraft fuel optimal guidance problem under Clohessy-Hill-Wiltshire (CHW) dynamics is studied under plume impingement, keep-out zones, and obstacle avoidance constraints.

关键词： Nonlinear programming Spacecraft Trajectory Optimization Model Predictive Control Optimal Control Algorithms Convergence sequential quadratic programming Pseudo Spectral Method Boundary Value Problems Guidance Laws Rockets

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High-Order Implicit Shock Tracking for Finite-Source Spherical Blast Waves

High-Order Implicit Shock Tracking for Finite-Source Spheric...

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AIAA Aviation Forum

作者： Naudet, Charles Taylor, Brian Zahr, Matthew J. Univ Notre Dame Dept Aerosp & Mech Engn 321 Cushing Hall Notre Dame IN 46556 USA Air Force Res Lab Eglin AFB FL 32542 USA Univ Notre Dame Dept Aerosp & Mech Engn 300B Cushing Hall Notre Dame IN 46556 USA

ISBN: (数字)9781624107047

ISBN: (纸本)9781624107047

Implicit shock tracking is a class of numerical methods to approximate solutions of conservation laws with non-smooth features, e.g., contact lines, shock waves, and rarefactions. These methods align elements of the computational mesh with non-smooth features to represent them perfectly, allowing high-order basis functions to approximate smooth regions of the solution without the need for nonlinear stabilization, which leads to accurate approximations on traditionally coarse meshes. In this work, we use the High-Order Implicit Shock Tracking method to simulate a finite-source spherical blast wave.

关键词： Blast Wave Discontinuous Galerkin Method Shock Waves Rankine Hugoniot Conditions Weighted Essentially Non Oscillatory Flow Characteristics Gas Constant sequential quadratic programming Atwood Number Compressible Fluid

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Nonlinear Optimization for Human-Like Movements of a High Degree of Freedom Robotics Arm-Hand System

Nonlinear Optimization for Human-Like Movements of a High De...

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11th International Conference on Computational Science and Its Applications (ICCSA)

作者： Costa e Silva, Eliana Costa, Fernanda Bicho, Estela Erlhagen, Wolfram Univ Minho Dept Ind Elect P-4719 Braga Portugal Univ Minho Dept Math Appl P-4719 Braga Portugal

ISBN: (纸本)9783642219306;9783642219313

The design of autonomous robots, able to closely cooperate with human users in shared tasks, provides many new challenges for robotics research. Compared to industrial applications, robots working in human environments will need to have human-like abilities in their cognitive and motor behaviors. Here we present a model for generating trajectories of a high degree of freedom robotics arm-hand system that reflects optimality principles of human motor control. The process of finding a human-like trajectory among all possible solutions is formalized as a large-scale nonlinear optimization problem. We compare numerically three existing solvers, IPOPT, KNITRO and SNOPT, in terms of their real-time performance in different reach-to-grasp problems that are part of a human-robot interaction task. The results show that the SQP methods obtain better results than the IP methods. SNOPT finds optimal solutions for all tested problems in competitive computational times, thus being the one that best serves our purpose.

关键词： anthropomorphic robotic system reach-to-grasp human-like collision-free arm movements large-scale nonlinear optimization interior-point methods sequential quadratic programming

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A B-Spline-based Generative Adversarial Network Model for Fast Interactive Airfoil Aerodynamic Optimization

A B-Spline-based Generative Adversarial Network Model for Fa...

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AIAA Science and Technology Forum and Exposition (AIAA SciTech)

作者： Du, Xiaosong He, Ping Martins, Joaquim R. R. A. Univ Michigan Dept Aerosp Engn Ann Arbor MI 48109 USA

ISBN: (数字)9781624105951

ISBN: (纸本)9781624105951

Airfoil aerodynamic optimization is of great importance in aircraft design;however, it relies on high-fidelity physics-based models that are computationally expensive to evaluate. In this work, we provide a methodology to reduce the computational cost for airfoil aerodynamic optimization. Firstly, we develop a B-spline based generative adversarial networks (BSplineGAN) parameterization method to automatically infer design space with sufficient shape variability. Secondly, we construct multi-layer neural network (MNN) surrogates for fast predictions on aerodynamic drag, lift, and pitching moment coefficients. The BSplineGAN has a relative error lower than 1% when fitting to UIUC database. Verification of MNN surrogates shows the root means square errors (RMSE) of all aerodynamic coefficients are within the range of 20%-40% standard deviation of testing points. Both normalized RMSE and relative errors are controlled within 1%. The proposed methodology is then demonstrated on an airfoil aerodynamic optimization. We also verified the baseline and optimized designs using a high-fidelity computational fluid dynamic solver. The proposed framework has the potential to enable web-based fast interactive airfoil aerodynamic optimization.

关键词： Airfoil Databases Generative Adversarial Network Aerodynamic Shape Optimization Cumulative Distribution Function Aircraft Design Surrogate Model Computational Fluid Dynamics Lift Coefficient Shape Control sequential quadratic programming

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Error Analysis of Optimization Algorithms in Ultrasonic Parameter Estimation 9

Error Analysis of Optimization Algorithms in Ultrasonic Para...

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9th IEEE International Conference on Computational Intelligence and Computing Research (ICCIC)

作者： Aditya, N. Ram Abhijeeth, K. Sri Anuraj, K. Poorna, S. S. Amrita Vishwa Vidyapeetham Dept Elect & Commun Engn Amritapuri India

ISBN: (纸本)9781538615072

The back scattered ultrasonic echo carries several valuable information in its amplitude, bandwidth, delay in time, phase and time of flight. This information is capable of characterizing properties of the material from which it is reflected. In order to model the reverberations, white Gaussian noise is added to Gaussian echo. The required set of parameters are estimated from the noise altered echo using Maximum Likelihood Estimation. This reduces to least square curve fitting, due to additive white gaussian noise. For optimizing the estimated parameters from the back-scattered signal, different algorithms such as Levenberg- Marquardt, Trust-Region Reflective, Active Set, Quasi Newton and sequential quadratic programming are used. The proposed work aims at the error analysis of estimated signals using the above-mentioned optimization algorithms for different SNR values viz. 0-20dB. Further the noise added signals are subjected to wavelet denoising, prior to parameter estimation. The experimental result shows that the lowest mean square error is obtained for the echo parameters optimized using Levenberg-Marquardt algorithm, for both noisy and de-noised cases.

关键词： Ultrasonic Echo Error analysis MLE LM Trust-Region Reflective Active Set Quasi Newton sequential quadratic programming wavelet denoising MSE SNR

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Slotted Waveguide Stress Concentration Factor

Slotted Waveguide Stress Concentration Factor

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AIAA Science and Technology Forum and Exposition (AIAA SciTech Forum)

作者： Brooks, Joseph Canfield, Robert A. Virginia Polytech Inst & State Univ Kevin T Crofton Dept Aerosp & Ocean Engn Randolph Room 215460 Old Turner St Blacksburg VA 24061 USA Virginia Polytech Inst & State Univ Kevin T Crofton Dept Aerosp & Ocean Engn 460 Old Turner StMS 0203 Blacksburg VA 24061 USA

ISBN: (数字)9781624106095

ISBN: (纸本)9781624106095

Sharp turns or corners within a structure lead to local failures well before the rest of the structure due to the creation of stress concentrations. For a load-bearing waveguide, these occur at the corners of the slots. After modeling a test waveguide, a bivariate curve fit was created to model these stress concentrations, based on four configurations for a single slot length, then refined into a trivariate form based on an expanded eight cases across two slot lengths. Once properly formatted, the integration of the bivariate function into an optimization allowed stress concentration to be estimated at the slot corners within a coarse low-fidelity model, rather than the high-fidelity model otherwise required, following the expected behavior and acting as a verification case. Implementation of the full trivariate form into a design optimization enabled use of the concentration factor to estimate the critical stress. The study showed that the inset copper waveguide could not be loaded from the outset, and that an offset of the copper waveguide could avoid overloading it.

关键词： Stress Concentration Finite Element Modeling Compressive Stress sequential quadratic programming Yield Stress MATLAB Numerical Modeling Comsol Multiphysics Linear Elasticity Structural Modeling

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Particle-Based Optimization of a Conceptual Wing with Gradient Information

Particle-Based Optimization of a Conceptual Wing with Gradie...

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AIAA Science and Technology (SciTech) Forum and Exposition

作者： Dettwiller, Ian D. England, William Foster, Justin Garon, Elyse Freeman, Elton US Army Engineer Res & Dev Ctr ERDC Informat Technol Lab Vicksburg MS 39180 USA

ISBN: (数字)9781624105784

ISBN: (纸本)9781624105784

A new, particle-based optimization strategy for global optimization is presented. The new approach is used for minimizing weight through sizing optimization of the interior components of a conceptual wing subject to Von Mises stress constraints. The goal of the particle-based optimization scheme is to produce a methodology for high-dimensional global optimization. Performance of the new optimization scheme is compared to particle swarm optimization, differential evolution, and sequential quadratic programming with multiple starting points on a pair of global optimization benchmark problems. The particle-based strategy is shown to rapidly converge to global solutions to the unconstrained problems, even as dimensionality is increased. Finally, the particle-based optimization strategy is shown to be capable of successfully optimizing the conceptual wing.

关键词： Global optimization Wings stress constraints conceptual Benchmark testing sequential quadratic programming Point pairs Particle swarm optimization

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