Feb 2005 P. 1 Adaptive Control of Robotic Landers: Simulation Requirements Nilesh Kulkarni Perot Systems, Inc., Adaptive Control & Evolvable Systems Group.

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Presentation transcript:

Feb 2005 P. 1 Adaptive Control of Robotic Landers: Simulation Requirements Nilesh Kulkarni Perot Systems, Inc., Adaptive Control & Evolvable Systems Group Code TI, NASA Ames Research Center

Feb 2005 P. 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.

Feb 2005 P. 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

Feb 2005 P. 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 X-36 Tailless UAV tested adaptive control. 31 successful test flights 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

Feb 2005 P. 5 An Adaptive Control Architecture

Feb 2005 P. 6 Simulation Requirements Monte Carlo Studies Stability margin estimation simulations with frozen parameters On-line monitoring simulation capabilities

Feb 2005 P. 7 Simulation Facility