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dc.contributor.advisorAcikmese, Behcet
dc.contributor.authorSzmuk, Michael
dc.date.accessioned2019-08-14T22:27:59Z
dc.date.available2019-08-14T22:27:59Z
dc.date.submitted2019
dc.identifier.otherSzmuk_washington_0250E_20311.pdf
dc.identifier.urihttp://hdl.handle.net/1773/44017
dc.descriptionThesis (Ph.D.)--University of Washington, 2019
dc.description.abstractThe topic of this dissertation is successive convexification and high performance feedback control for agile flight. This document is divided into three primary branches. The first branch (Chapter 2) is focused on successive convexification -- a sequential convex programming approach that lends itself well to real-time applications requiring advanced feed-forward guidance. This branch uses a complex rocket landing application to showcase the versatility and computational capabilities of successive convexification. The second branch (Chapters 3-5) applies convexification techniques to quad-rotor motion planning problems. Using flight test results, the work detailed in these chapters shows that convexification techniques like successive convexification can generate trajectories that are trackable by quad-rotors in real-time. The third branch (Chapter 6) is dedicated to developing a high performance feedback control architecture for multi-rotor vehicles. This architecture is designed to complement a variety of feed-forward guidance methodologies by enhancing the system's robustness to model uncertainties and external disturbances. The core of this architecture relies on a fusion between advanced classical control techniques and convex optimization in order to systematically handle actuator saturation and feedback maximization.
dc.format.mimetypeapplication/pdf
dc.language.isoen_US
dc.rightsnone
dc.subjectAutonomy
dc.subjectControl
dc.subjectFeedback control
dc.subjectGuidance
dc.subjectMulti-Rotors
dc.subjectTrajectory optimization
dc.subjectAerospace engineering
dc.subject.otherAeronautics and astronautics
dc.titleSuccessive Convexification & High Performance Feedback Control for Agile Flight
dc.typeThesis
dc.embargo.termsOpen Access


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