Advanced Mathematics for Control System Design: Guidance, Navigation, and Control (GN&C) Studies

Peltroche, Joseph ; Morales Zambrana, Anibal E

关键词: PENDULUMS;    ROBOT DYNAMICS;    CONTROL SYSTEMS DESIGN;    CONTROL STABILITY;    GUIDANCE (MOTION);    EULER-LAGRANGE EQUATION;    MATHEMATICAL MODELS;    ROCKET FLIGHT;    TRAJECTORIES;    NAVIGATION;    LIQUID SLOSHING;    EQUATIONS OF MOTION;    ROBOT ARMS;    CAPE KENNEDY LAUNCH COMPLEX;    NASA SPACE PROGRAMS;   

RP-ID  :  KSC-E-DAA-TN67783

美国|英语

来源: NASA Technical Reports Server

【 摘 要 】

The study and control of inverted pendulum dynamics is of interest to NASA to better control the stability of a rocket. The different compartments of a rocket can move within a rocket during launch (i.e., rocket fuel slosh) and can affect its overall trajectory. Focusing on the inverted pendulum robot, PENNY, the dynamics are reduced to a simpler model which can prove to be more insightful for deriving more complex models and control laws. From the inverted pendulum bot, we can incorporate complexity into our physical model and approximate to the dynamics of a rocket (i.e., flexible inverted pendulum, multistage pendulum).