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Adaptive Control of Robotic Landers: Simulation Requirements

Adaptive Control of Robotic Landers: Simulation Requirements. Nilesh Kulkarni Perot Systems, Inc., Adaptive Control & Evolvable Systems Group Code TI, NASA Ames Research Center. Motivations. Robotic Landers will need to deliver a wide range of payloads on a regular basis

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Adaptive Control of Robotic Landers: Simulation Requirements

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  1. Adaptive Control of Robotic Landers: Simulation Requirements Nilesh Kulkarni Perot Systems, Inc., Adaptive Control & Evolvable Systems Group Code TI, NASA Ames Research Center

  2. Motivations • Robotic Landers will need to deliver a wide range of payloads on a regular basis • Missions will require precision landing capabilities • Robotic Landers will need to operate on relatively lower budgets (compared to manned Landers) • Adaptive control can deliver high performance for these uncertainties • Adaptive control can help cut down on design time • This program can leverage from the significant efforts in other aerospace fields that are working on verifiably stable adaptive control technologies.

  3. What is adaptive control • To vary parameters of the control architecture towards satisfying a performance goal while maintaining stable operation • LM Control System is no stranger to parameter variation during operation • LM was significantly lighter on its lunar ascent phase compared to its descent phase. Control parameters were adjusted to maintain similar level of rotational accelerations. • This was, however, a scheduled parameter variation

  4. History of Implementation • 1956 – Studies by U.S Air Force for feasibility of adaptive control • 1959 X-15 program was initiated. 199 Flights operated. In November 1967 suffered a fatal crash. Program was suspended in 1968. • 1997 X-36 Tailless UAV tested adaptive control. 31 successful test flights • 2002-2006 X-45 UCAV tested adaptive mission planning • Joint Direct Attack Munitions (JDAM) missiles are operational with adaptive guidance element • 2006 F-15 research aircraft at NASA DFRC tested successful in-flight adaptive control

  5. An Adaptive Control Architecture

  6. Simulation Requirements • Monte Carlo Studies • Stability margin estimation simulations with frozen parameters • On-line monitoring simulation capabilities

  7. Simulation Facility

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