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Single Vehicle Control
[1] Digital Control: Approximate the continuous nonlinear dynamics (ordinary differential equations) of the aircraft into an equivalent sampled form (ordinary difference equation) using the Adams-Bashforth numerical formula, a multi-step time marching method, and design a robust dynamic inversion with a discrete-time sliding mode control (First flight test [wmv], Rolling maneuver [wmv], Artificial horizon [wmv]).
[2] Real-time Actuator Saturation
Treatment: Devise a real-time
control input limiting (CILA) algorithm to prevent actuator saturation. The
algorithm modifies the tracking command such that the resulting acceleration
vector for a given state always lies within the maximum acceleration boundary.
It computes modified commands in a polynomial time and guarantees the Lyapunov
stability of the closed-loop system under saturation (Rolling maneuver with virtual aileron
saturation [wmv]).
[1] Localizer Capture: Demonstrate a linear switching control system in which autopilots for each mode are designed using an infinite horizon discrete LQR, in order to capture two virtual localizers (Flight test video [wmv], Trajectory animation [wmv]).
[2] GPS Only Control: Demonstrate a longitudinal stability augmentation system using a singe-code phase GPS antenna updated at 1 Hz. A discrete-time sliding mode control is adapted to stabilize both the airspeed and the altitude of the aircraft during localizer capturing (Flight test video [wmv]).
Demonstrate a
Closely Spaced Parallel Approaches (CSPA) algorithm of two aircraft over wireless
communication to guarantee a minimum separation distance. Two aircraft fly
autonomously during flight tests, where one aircraft is assigned as pursuer,
and the other as evader. Work by Rodney Teo (trodney@stanford.edu). See Flight Test [wmv].
Engine Identification
Ground Taxing Test
System Identification Flight