Probability-Based Optimal Control Design for Soft Landing of Short-Stroke Actuators
The impact forces during switching operations of short-stroke actuators may cause bouncing, audible noise and mechanical wear. The application of soft-landing control strategies to these devices aims at minimizing the impact velocities of their moving components to ultimately improve their lifetime and performance. In this paper, a novel approach for soft-landing trajectory planning, including probability functions, is proposed for optimal control of the actuators. The main contribution of the proposal is that it considers uncertainty in the contact position and hence the obtained trajectories are more robust against system uncertainties. The problem is formulated as an optimal control problem and transformed into a two-point boundary value problem for its numerical resolution. Simulated and experimental tests have been performed using a dynamic model and a commercial short-stroke solenoid valve. The results show a significant improvement in the expected velocities and accelerations at contact with respect to past solutions in which the contact position is assumed to be perfectly known.
Code (0)
등록된 구현이 없습니다.
Tasks
PositionTrajectory PlanningSimilar Papers 제목 키워드 기반
Robust Fuel-Optimal Landing Guidance for Hazardous Terrain using Multiple Sliding Surfaces
In any spacecraft landing mission, fuel-efficient precision soft landing while avoiding nearby hazardous terrain is of utmost importance. Very few existing literature have attempted addressing both the problems of precis…
Integrated Guidance and Control for Lunar Landing using a Stabilized Seeker
We develop an integrated guidance and control system that in conjunction with a stabilized seeker and landing site detection software can achieve precise and safe planetary landing. The seeker tracks the designated landi…
Meta-LearningDeep $\mathcal{L}^1$ Stochastic Optimal Control Policies for Planetary Soft-landing
In this paper, we introduce a novel deep learning based solution to the Powered-Descent Guidance (PDG) problem, grounded in principles of nonlinear Stochastic Optimal Control (SOC) and Feynman-Kac theory. Our algorithm s…
Unmanned F/A-18 Aircraft Landing Control on Aircraft Carrier in Adverse Conditions
Carrier landing of aircrafts is a challenge for control due to the existence of nonlinear wind disturbances and the requirements of changing reference trajectories. In this paper, a robust landing control system is prese…
Pitch controlDesign of a Smooth Landing Trajectory Tracking System for a Fixed-wing Aircraft
This paper presents a landing controller for a fixed-wing aircraft during the landing phase, ensuring the aircraft reaches the touchdown point smoothly. The landing problem is converted to a finite-time linear quadratic …