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Systems Research in the Aerospace Engineering and Mechanics at the University of Minnesota. Gary J. Balas Aerospace Engineering and Mechanics University of Minnesota Minneapolis, MN [email protected] SAE Aerospace Controls and Guidance Meeting 19 October 2005.

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Systems research in the aerospace engineering and mechanics at the university of minnesota
Systems Research in theAerospace Engineering and Mechanicsat the University of Minnesota

Gary J. Balas

Aerospace Engineering and Mechanics

University of Minnesota

Minneapolis, MN

[email protected]

SAE Aerospace Controls and Guidance Meeting

19 October 2005


University of minnesota aerospace engineering and mechanics systems faculty
University of MinnesotaAerospace Engineering and Mechanics Systems Faculty

  • William Garrard, Department Head

    • Modeling, flight control, parachutes

  • Yiyuan Zhao

    • Optimization, air traffic control, rotorcraft

  • Demoz Gebre-Egziabher

    • Navigation, GPS, sensor fusion

  • Gary Balas

    • Robust control, real-time embedded systems, flight control

  • Bernard Mettler (starts Jan 2006)

    • Real-time control, planning, rc helicopters and planes


Current research
Current Research

  • “Control Reconfiguration and Fault Detection and Isolation Using Linear, Parameter Varying Techniques,” NASA Langley Research Center, NASA Aviation Safety Program, Dr. Christine Belcastro Technical Monitor

  • “Stability and Control of Supercavitating Vehicles,” ONR, Dr. Kam Ng Program Manager

    • Special Session planned for the 2006 American Control Conference entitled “Modeling and Control of High-Speed Underwater Vehicles”

  • Local Arrangements Chair, 2006 American Control Conference, 14-16 June 2006, Minneapolis, MN


Control of projectiles
Control of Projectiles

Using control thruster firings, the projectile maneuvers

to the optimum angle of attack

  • Tradeoff between many small maneuvers and wider spaced, large maneuvers

  • Controllability of projectile given a finite number of impulses

  • Optimal control of a number of thrusters.

  • Effect of

    • Burn time

    • Impulse size and number

    • Achievable performance


Development of analysis tools for certification of flight control laws afosr
Development of Analysis Tools for Certification of Flight Control Laws - AFOSR

Andy Packard (UC Berkeley), Pete Seiler (Honeywell)

Initial focus is on nonlinear robustness analysis

  • Region-of-attraction

  • Disturbance-to-error gains

  • Inner and Outer Bounds

    Connection to MilSpecs


Quantitative nonlinear analysis
Quantitative Nonlinear Analysis Control Laws - AFOSR

Initial focus

  • Region of attraction estimation

  • induced norms

  • induced norms

    for

  • finite-dimensional nonlinear systems, with

    • polynomial vector fields

    • parameter uncertainty (also polynomial)

      Main Tools:

  • Lyapunov/HJI formulation

  • Sum-of-squares proofs to ensure nonnegativity

  • Semidefinite programming (SDP), Bilinear Matrix Inequalities

    • Optimization interface: YALMIP and SOSTOOLS

    • SDP solvers: Sedumi

    • BMIs: using PENBMI (academic license from www.penopt.com)


Estimating region of attraction
Estimating Region of Attraction Control Laws - AFOSR

Dynamics, equilibrium point

User-defined function whose sub-level sets are to be in region-of-attraction

By choice of positive-definite V, maximize  so that


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