Optimal Control Framework for Estimating Autopilot Safety Margins

Estimating the Optimal Margins

Concept classes can canonically be represented by matrices with entries 1 and ?1. We use the singular value decomposition of this matrix to determine the optimal margins of embeddings of the concept classes of singletons and of half spaces in homogeneous Euclidean half spaces. For these concept classes the singular value decomposition can be used to construct optimal embeddings and also to prov...

Nonlinear Optimal Control Techniques Applied to a Launch Vehicle Autopilot

This paper presents an application of the nonlinear optimal control techniques to the design of launch vehicle autopilots. The optimal control is given by the solution to the Hamilton-Jacobi-Bellman (HJB) equation, which in this case cannot be solved explicity. A method based upon Successive Galerkin Approximation (SGA), is used to obtain an approximate optimal solution. Simulation results invo...

Augmented Invariance Control for Impedance-controlled Robots with Safety Margins

Various robotic applications require enforcing constraints, to achieve task performance or to hinder the robot from causing danger. Especially in human-robot-interaction, collision avoidance and velocity limits are crucial for safety. A promising approach to enforce adherence to safety margins is invariance control. Considering the system dynamics, it corrects a nominal control based on a switc...

Autopilot Control System

An autopilot is a mechanical, electrical, or hydraulic system used to guide an aerial vehicle without assistance from a human being. It also maintains the orientation of the plane by monitoring the relevant flight data from inertial measurement instruments and then using that data to cause corrective actions. In this project an attempt has been made to design, implement and develop an autopilot...

Methodology for estimating retail electricity margins