Practical Implementation of MPC for Mars Terminal Descent
X, y, z, and yaw angle.
6.4 Future Work
The currently developed linear MPC control techniques have been implemented on a PC which sends control signals through wireless link. The high computation speed has restricted the true exploration o f Laguerre poles potential. Therefore an onboard implementation o f SSLOMPC control technique for quadrotor control is one avenue which can be explored. The current SSLOMPC algorithm does not allow the quadrotor to perform aggressive maneuvers. Therefore research can be made by choosing different models linearized at different flight envelops to perform aggressive maneuvers like flips.
Currently constraints can only be changed offline. Therefore further contributions can be made by introducing changes to predictive control architecture to change the output constraints online allowing the user the flexibility to incorporate constraints on changing flying conditions.
The SSLOMPC has been found to be a candidate controller for planetary landing missions. Therefore further investigations are needed to convert it into a flight ready control technique for planetary exploration.
It would also be very appealing to compare the constrained guidance trajectory with MPC as a control technique for quadrotor control and also for PDG techniques developed for planetary landing.
Further enhancements at SPLF are necessary. UAV health management system needs to be developed. In the case o f an anomaly in the flight or low battery, the quadrotor should land itself autonomously, charge itself and then may resume the flight autonomously. The number o f quadrotors available should be increased to test cooperative control concepts. TCP/IP access through a web link can be introduced to control the quadrotor to perform desire closed-loop maneuvers. This feature can allow the researchers to test their algorithms remotely. Advanced control and guidance techniques are needed to perform scaled gravity turn maneuvers. This requires more motion capture cameras to increase the flight envelop. The performance o f SSOMPC and SSLOMPC control laws can also be tested for other worldwide experimental activities where operation at or near the constraints is necessary and input/output constraints should be respected.
References
Acikmese,B. (2007), ‘Convex Programming Approach to Powered Descent Guidance for Mars Landing', Journal o f Guidance Control and Dynamics, Vol.30,No.5,pp.l353- 1366.
Achtelik,M. (201 l),‘Diplomarbeit Nonlinear and Adaptive Control o f a Quadrotor’, M.Sc.thesis, Technische Universitat München, Germany.
Alexis,K.,Papachristos,C.,Nikolakopoilos,G.,and Tzes,A. (2011),“ Model Predictive
Quadrotor Indoor Position Control", In Proc IEEE 19th Mediterranean Conference on
Control and A u t o m a t i o n ,\2Al-\252, Greece.
Alexis,K., Nikolapoulos,G., and Tzes.A (2010)," Experimantal Model Predictive Attitude Tracking Control o f a Quadrotor Helicopter subject to Wind-gusts", In Proc IEEE
18th Mediterranean Conference on Control and Automation,^p.\A6\-\A66,
Marrkech.
Arvidson, R. (2008), 'Mars Exploration Program 2007 Phoenix Landing Site Selection and Characteristics', Journal o f Geophysical research. Vol. 113, No.3, pp. 1-14.
Astec. (2009), X-3D-BL Research Pilot Users Manual from Ascending Technologies Badgwell,T., and Qin,J .(1997)," An Overview o f Industrial Model Predictive Control
Technology", 5th International Conference on Chemical Process Control, Vol.93, N o.316, pp. 232-256.
Balas, C. (2007), ''Modelling and Linear Control o f a Quadrotor", M.Sc.Thesis,School o f Engineering, Cranfield University.
Blackmore,L.,Acikmese,B., and Scharf,D. (2010),'Minimun-Landing-Error Powered-Descent Guidance for Mars Landing Using Convex Optimization', Journal o f
Guidance, Control a n d Dynamzc5',Vol.3 3 ,No.5,pp. 1161-1171.
BoudAllah,S. (2008), 'Design and Control o f Quadrotors with Applications to Autonomous Hover', PhD.Thesis,Switzerland: ETH.
Brand,T., Fuhrman,L.,Geller,D., Hattis,P.,Paschall,S., and Tao,Y. (2004), "GN&C Technology Needed to Achieve Pinpoint Landing Accuracy at Mars", AIAA/AAS
Aerodynamics Specialist Conference and Ex/zf6r/,AIAA-2004-4748,Providence.
Braun,R.,mand Manning,R. (2006)," Mars Exploration Entry,Descent and Landing Challenges", In Proc IEEE Aerospace C o ^ ren ce,p p . 18,Montana.
BrescianijT. (2008), 'Modelling,Identification and Control o f a Quadrotor', MSc.thesis, Lund University Sweden, Dept, o f Automatic Control.
Bryson, A. B. (2002), Applied Linear Optimal Control Cambridge: University Press Cambridge, ISBN:0-5121-01231-7.
Carman,G.,Ives,D., and Geller,D. (1998), "Apollo Derived Mars Precision Lander Guidance",
AIAA Atmospheric Flight Mechanics Conference, AlAA-\99d>-AS10, Boston.
Carson,J.M., Acikmese,B.,Blackmore,L., and Wolf,A. (2011)," Capabilities o f Convex Powered descent Guidance Algorithms for Pinpoint and Precision Landing", In Proc
IEEE Aerospace Conference,^^.\-%.
Clarke,D., Mohtadi,C., and Tuffs,P. (1987),' Generalised Predictive Control -Part l.The basic algorithm' Automatica,Wo\2'5fAo.2,p^. 137-160.
Clarke,D.,Mohtadi,C.,and Tuffs,P. (1987), 'Generalized Predictive Control-Part II: Extensions and Interpretations', yfw/owarica,Vol.23 ,No.2,pp 149-160.
Cowling, I. (2008), 'Towards Autonomy o f a Quadrotor UAV, PhD.Thesis, Cranfield University, School o f Engineering.
Cutler,C., and Ramaker,B. (1980)," Dynamic Matrix control-a Computer Control Algorithm",
In Proc. o f American Control Co«/êrence,Paper WP5-B, San Francisco.
David,D. Masten GN&C Testbed ,(2011, 2011/12/04). "http://masten- space.com/applications/gnc-testbed"
Desai,P., Prince,!., Queen,E., J.Cruz., and Grover,M. (2008), "Entry, Descent and Landing Performance o f the Mars Phoenix Lander", AIAA-200S-13A6.
Ducard,G., and Andrea, R. (2009)," Autonomous Quadrotor Flight Using a Vision System and Accomodating Frames Misalignement", In Proc IEEE Industrial Embedded
System, pp.261-264,Lausanne.
Golombek,M.P., Cook,R.A., Economou,T., Folkner,W.M., Haldmann,A., Kallemeyn,P.H., Knudsen,J.M., Manning,R.M., Moore,H.J., Parker,T.J., Rieder,R., Schofield,J.T., Smith,P.H., and Vaughan,R.M. (1997), Overview o f the Mars Pathfinder Mission and assesment for Landing site predictions. Science ,Vol. 278,No.5344,pp. 1743-1748. Guilherme,V., Manuel,G.,and Francisco,R. (2010),' An integral predictive/non-linear H-
infinity control structure for a quadrotor helicopter'. A utom aticalo\.A 6f^o.\,^^. 29- 39.
Guilherme,V., Manuel,G., and Francisco,R. (2008)," MPC with non-linear H-infinity control for path tracking o f a quadrotor helicoptet". In Proc 17th IF AC World
Guizzo,G.,Bertoli,A.,Torre,A.,Magistrat!,G.,Mailland,F.,Vukman,!.,Philippe,C.,Jurado,M.,Or i,G.,Macdonald,M.,Romberg,0.,Debei,S.,and Zaccariotto,M. (2007), "Mars and Mon Exploration Passing Through the European Precision Landing GNC Test Facility", In
Proc 58th International Astronautical CoMgrejj-, Vol.63,No. 1 ,pp. 1 -4, Hyderabad.
Guizzo,G.P., Drai,R., Desprè,N., and Jurado,M.M.(2011), “ Flight Tests Results o f the Precision Landing GNC Test Facility” , 8^^ International ESA Conference on
Guidance, Navigation and Control Systems, Karlovy Vary,Czech Republic.
Guo,J., and Han,C. (2009), "Design o f Guidance Laws for Lunar Pinpoint Soft Landing"/«
proc AIAA Astrodynamics Specialist,AAS>-2D09A3\.
Hofftnann,G.,Huang,H.,Waslander,S., and Tomlin,C. (2007), "Quadrotor Helicopter Flight Dynamics and Control: Theory and Experiment", In Proc AIAA Guidance,Navigation
and Control Conference fl«<7ExA/Z)zY,Vol.4,No.7,pp.l-20,South Carolina.
How,J.P., Bethke,B., Frank,A.,Dale,D., and Vian,J. (2008), 'Real-Time Indoor Autonomous Vehicle Test Environment', IEEE Control Systems M3gazwc,Vol,28,No.2,pp.51 - 64. Ingoldby, R. N. (1978), 'Guidance and Control System Design o f the Viking Planetary
Lander', Journal o f Guidance and Control ,Vol. 1,No.3,pp. 164-171.
Johnson, A., and Skulsky,E. (2002)," Descent Speed Testing o f a Hazard Detection System for Safe Landing on Mars", 25th AAS Guidance and Control Conference, AAS-2002- 024,Brecenridge,U SA.
Johnson,A., Wilson,R., Goguen,J., Alexander,!., and Meller,D. (2005)," Field Testing o f the Mars Exploration Rovers Descent Image Motion Estimation System", In Proc
IEEE International Conference on Robotics and Automation(ICRA'05),ppAA63-A469.
!oseph,B., and Ying,C. (1999),' Performance and Stability Analysis o f LP-MPC and QP- MPC cascade control systems',^/ΠE'J,Vol,45,No.7,pp. 1309-1323.
Kondak,K., Bemard,M., Meyer,N., and Hommel,H. (2007)," Autonomously Flying VTOL- Robot Modelling and Control", In Proc IEEE International Conference on Robotics
andAutomation,pp.l36-lA\, Rome,Italy.
Klumpp,A.R. (1974), 'Apollo Lunar Descent Guidance', y4w/o/Marica,Vol.lO,No.2,pp. 133-146. Kumar,R., and Seywald,H.(1996), "Desensitized Optimal Trajectories", Advances in
Astronautical Sciences, Space Flight Mechanics ,pp. 103-116.
Lee, M.,( 2011,2011/12/04). Lunar Quest, 'Robotic Lander Testbed', "http://www.nasa.gov/mission_pages/lunarquest/robotic/rlbt.html"
Limon,D., Alvarado,! .,Alamo,T., and Camacho,E. (2005), "MPC for tracking of piece-wise constant references for constrained linear systems". In Proc IF AC World Congress, Vol. 16,Part. 1 ,Prague,Czech Republic.
Lockwood,M., Powell,R.,Graves,C., and Carman,G.(2001)," Entry System Design Considerations for Mars lander". In Proc 24th Annual AAS Guidance ad Control
Conference, pp.311-345,Breckenridge.
Maciejowski,J.M. (2002), Predictive Control With Constraint,. Dorchester: Pearson Education Limited,ISBN:0-201-39823-0.
Mary,C., Totu,L., and Koldbaek,S. (2010), Modelling and Control o f Autonomous Quadrotor' Denmark: Aalborg University, Dept, o f Electronics System.
Meditch, J. (1964),' On the Problem o f Optimal Thrust Programing for a Lunar Soft Landing',
IEEE Transactions on Automatic Control, Vol. 9, Issue 4, pp.477-484.
Mellinger,D., Michael,N., and Kumar,V. (2010), "Trajectory Generation and Control for Precise Aggrtessive Maneuvers with Quadrotor", Proceedings o f the International
Symposium on Expérimentale robotics,pp.27.
Mian,A., Ahmad,M., and Wang,D. (2008), "Backstepping Based PID Control Strategy for an Underactuated Aerial Robot", Seoul: In Proc IF AC, Vol. 17,Part. 1.
Michalska,H., and Mayne,D.Q. (1993),' Robust receding Horizon control o f constrained non linear systems', IEEE TAutmatic C ontr, Vol.38,No.l l,pp.l623-1633.
Montgomery, J., Johnson,A.,Roumeliotis,S., and Matthies,L. (2006),' The JPL Autonomous Helicopter Testbed: A Platform for Planetary Exploration Technology Research and Development',. Jo o f Field R o è o to , Vol.23,No.3-4,pp.245-267.
Morshedi,A.M., and Garcia,C.E. (1986), Quadratic programming solution to Dynamic Matrix Control (QDMC). Chemical Engineering C om m unicationyo\.A 6^o.\- 3,pp.73-87.
Muske,K.R., and Badgwell,T.A. (2002),' Disturbance modelling for offset-free model predictive control', J Process Control ,Vol.l2,No.5,pp.617-632.
Muske,K. (1997)," Steady-state target optimization in linear model predictive control". In Proc ^CC,Vol.6,pp.3597-3601.
NGC’s Lab, (2011, 2011/12/20). “http://www.ngcaerospace.com/ngclab.html”
Palm,!., Bradford, A., and Nelson, A. (2010), Testing Autonomous Hover Algorithms Using a
Quadrotor Helicopter Testbed, Student Report, University o f Washington.
Paraskevopoulos,P.N. (2002),Modern Control Engineering, Newyork Marcel Dekker,Inc,ISBN:0824781814,9780824789817.
Peterka, V. (1984), Predictor-based self tuning control. Automatica ,Vol.20,N0.1,pp.39-50. Petersen,C., Hansen,H., Larsson,S., Madsen,L., and Rimestad,M. (2008), Autonomous
Hovering with a Quadrotor Helicopter, AdXboxg University,Dept.of Electronic
Systems.
Philippe,C. (2008, 2011/12/04), 'Precision Landing GNC Test Facility (PLGTF) Interface
Control Document', http://www.mendeley.com/research/precision-landing-gnc-test-
facility/.
Philippe,C .,and Pradier,A. (2008, 11210 A),'Validation and Verification Approach fo r European Safe Precision Landing Guidance, Navigation and Control (GNC)
Technologies'. http://smartech.gatech.edu/jspui/bitstream/1853/26364/2/21-260
Pines,D., and Bohorquez,F. (2006),' Challenges Facing Future Micro Air vehicles Development', AIAA Journal o f Aircraft ,Vol.43,No.2,pp.290-305.
Powell,W. (1998)," Numerical Roll Reversal Predictor-Corrector Aerocapture and Precision Landing Guidance Algorithms for the Mars Surveyor Program 2001 Missions", In
Proc AIAA Atmospheric Flight Mechanic AIAA-1998-4574,Boston.
Ploen,S., Acikmese,B.,Wolf. A. (2006)," A Comparison o f Powered Descent Guidance Laws for Mars Pinpoint Landing", In Proc AIAA/AAS Astrodynamics Specialist Conference
and Exhibit, pp. 21-24, Keystone.
Prett, D. G., and Morari,M. (1987), Shell Process Control Workshop. Butterworths,Stoneham,ISBN:0409901369,9780409901368.
Prett,D., and Garcia,C. (1990), The second Shell Process Control Workshop. Butterworths,ISBN:0409901865,9780409901863.
Qin,S.J., and Badgwell,T.A. (2003), 'A survey o f industrial model predictive control technology'. Control Eng Pract ,Vol. 11 ,pp.733-764.
Ratal, W.S. (1968), Discrete Dynamic Optimization Applied to Online Optimal Control.
AIChE J ,Vol. 14,No. 1 ,pp.85-91.
Rao,C., and Rawling,B. (1999), "Steady States and Constraints in Model Predictive Control",
AIChE ,Vol.45,No.6,pp.l266-1278.
Rawling, J. B. (2000),' Tutorial Overview o f Model Predictive Control', IEEE Control
Systems Magazine ,Vol.20,No.30,pp.38-52.
Richalet,J., Rault,A., Testud,J., and Papon,J. (1976), "Algorithmic control o f Industrial process. In Proc 4th IF A C Symp ISPE", pp. 1119-1167.
Rossiter,J. (2003), Model-based predictive control,A practical Approach, CRC Press,ISBN- 10:0849312914,ISBN-13:978-0849312915.
Rossiter,J.,Wang,L., and Valancia-Palomo,G .(2010),' Efficient algorithms for trading off feasibility and performance in predictive control'. International Journal o f Control, Vol.83,No.4,pp.789-797.
Saripalli,S., and Sukhatme,G. (2002)," A Testbed for Mars Precision Landing Experiments by Emulating Spacecraft Dynamics on a Model Helicopter", In Proc lEEE/RSJ
International Conference on Intelligent Robots and Systems, pp. 2097-2102.
Switzerland.
Schmitz,P., Reboud,0. ,Ormston,T., and Mercolino,M. (2008, 2011/12/04), 'Flight o f the
Phoenix: ESOC supports NASA Mars Mission \ ESA Bulletin 134, ISSN:0376-4265,
pp. 20-25. http://www.esa.int/esapub/bulletin/bulletinl34/bull34c_schmitz.pdf Scokaert,P.O.M., and Rawlings,!. (1998),' Constrained linear quadratic regulation', IEEE T
Automat Contr ,Vol.43,No.8,pp.l 163-1168.
Shankar,K., Peterson,k., Jones,H., Moidel,J., and William “Red” Whittaker. (2011),” A Long-Duration Propulsive Lunar Landing Testbed” , In Proc IEEE International
Conference on Robotics and Automatic,pp.2\d>4-2\^9, Shanghai, Chin.
Shead, L. (March 2008), ‘Predictive Control o f Non-Square Systems’,Ph.D.Thesis, University o f Sheffield, Dept, o f Automatic Control and System Engineering.
Shen,H., Seywald,H., and Powell,R. (2008)," Desentisizing the pin-point landing trajectory on Mars", AIAA/AAS Astrodynaincs Specialist Con/erence,AIAA/AAS-2008-
6943,Honolulu.
Shen,H., Seywald,H., and Powell,R. (2010), 'Desentisizing the Minimum-Fuel Powered Descent For Mars Pinpoint Landing', Journal o f Guidance, Control and Dynamics, Vol.33,No.l,pp.l08-115.
Shi.J., and Apley.D.(1998), ‘A Suboptimal N-Step-Ahead Cautious Controller for Adaptive Control Applications’, Journal o f Dynamic Systems, Measurement, and
Control, Vol.l20,No.3,pp.419.
Simon,D. (2006), Optimal State Estimation-Kalman, H-infinity and Nonlinear Approaches. John Wiley and Sons,Newark.ISBN:0471708585,9780471708582.
Sorensen, A. F. (2010), 'Autonomous Control of a Miniature Quadrotor Following Fast Trajectories',M.Sc.Thesis, Aalborg University, Dept, o f Electronic System. Sostaric,R ., and Rea,J. (2005)," Powered-Descent Guidance Methods for the Moon and
Mars", AIAA Guidance,Navigation and Control Conference,PAAA-2995-62'èl, San
Steinfeldt,B., Grant,M., Matz,D., Braun,R. (2008)," Guidance,Navigation and Control Technology System Trades for Mars Pinpoint Landing", AIAA Guidance,Navigation
and Control Conference.AIAA-209%-62\6.
Tewari,A. (2004), Atmospheric and Space Flight Dynamics, Birkhauser.ISBN- 10:0817643737,ISBN-13:978-0817643737.
Topcu,U., Casoliva,J., and Mease,K. (2005)," Fuel Efficient Powered Descent guidance for Mars Landing", AIAA-2005-6S26, San Francisco, California.
Topcu,U., Casoliva,J.,Mease,K. (2007),' Minimum-Fuel Powered Descent for Mars Pinpoint Landing', Journal o f Spacecraft and Rockets ,Vol.44,No.2,pp. 324-331.
Valenti,M., Bethke,B.,Fiore,G., How,J., and Feron,E. (2006)," Indoor Multi-Vehicle Flight Testbed for Fault Detection, Isolation, and Recovery", AIAA Guidance,Navigation,
and Control Conference and Exhibit, AIAA-2006-6200,Colorado.
Valenti,M.J. (2007), 'Approximate Dynamic Programming with Applications in Multi-Agents Systems', Ph.D.Thesis, Massachusetts Institute o f Technology, Dept, o f Elecetrical Engineering.
Wang, L. (2008), Model Predictive Control System Design and Implementation Using
Matlab. London: Springer,ISBN:978-84882-330-3.
Way,D.,Powell,R.,Chen,A.,Steltzner,A.,Martin,A.,Burkhart,P., and Mendeck,G.(2007), "Mars Science Laboratory: Entry, Descent and Landing System Performance",
IEEEAC#\461, Version 3,pp.l-19.
Wells,G., Lafleur,J.,Verges,A.,Manyapu,K.,Christian,A.,Lewis,C., and Braun,R. (2006)," Entry, Descent and Landing Challenges o f Human Mars Exploration", 29th AAS
Guidance and Control Conference,pp.\%, Breckenridge.
Wie,B. (2002),'Rapid Multi-Target Acquisation and Pointing Control o f Agile Spacecraft',
Journal o f Guidance, Control and Dynamics/Vo\.25fAo.\,pp.96-19A.
Williams,D.(2009,201 \ 112104^,'Chronology o f Mars Exploration ’ http://nssdc.gsfc.nasa.gov/planetary/chronology_mars.html.
Wolf,A., Graves,A.,Powell,C.,Johnson,R., and Wyatt. ( 2004), "Systems for Pinpoint Landing On Mars", 14th AAS/AIAA Space Flight Mechanics Conference, No. AAS 04-272. Maui, Hawaii.
Wolf,A., Tooley,J., Ploen,S., Ivanov,M., Acikmese,B., and Gromov,K. (2006),"Performance Trades for Mars Pinpoint Landing", IEEE Aerospace Conference,pp.\6, Montana.
Wong,E., Singh,G., and Masciarelli,J. (2006), 'Autonomous Guidance and Control Design for Hazard Avoidance and Safe Landing on Mars', Journal o f Spacecraft and
i?ocA:e/5',Vol.43,No.2,pp.378-384.
Wolf,A., Acikmese,B.,Cheng,Y., Casoliva,!., Carson,J.and Ivanov,M. (2010), "Toward Improved Landing Precision on Mars", In Proc IEEE Aerospace Conference,pp. CA,USA.
Zipfel,P. (2007), ' Modeling and Simulation o f Aerospace Vehicle Dynamics’, Florida: AIAA Education Series,ISBN-10:1563478757,ISBN-13:978-1563478758.