We study the simulation of maneuvers with multibody models. We propose a framework based on a hierarchical decomposition of the problem inspired from the work on autonomous vehicles. The result is a system that not only is capable of piloting a vehicle model of arbitrary complexity along a given track, but it is also able to compute the track itself based on given criteria. The ability to generate feasible tracks, i.e. tracks that are compatible with the dynamic characteristics of the vehicle and other maneuver-defining constraints, is of crucial importance when the vehicle is operating close to its performance boundaries. A maneuver is here mathematically defined as an optimal control problem. This definition feeds into a planning layer, that determines the vehicle trajectory by solving the optimization problem for a reduced vehicle model. The resulting trajectory feeds into a control layer, that tracks the computed optimal path using a non-linear model predictive formulation and steers the multibody model accordingly. The reduced models used at the planning and tracking levels are adapted, either in a batch mode or online, to optimize the predictive capabilities of planner and tracker. The proposed framework is demonstrated on problems related to maneuvering rotorcraft systems.

Adaptive Planning and Tracking of Trajectories for the Simulation of Maneuvers with Multibody Models

BOTTASSO, CARLO LUIGI;CROCE, ALESSANDRO;LEONELLO, DOMENICO;RIVIELLO, LUCA
2006-01-01

Abstract

We study the simulation of maneuvers with multibody models. We propose a framework based on a hierarchical decomposition of the problem inspired from the work on autonomous vehicles. The result is a system that not only is capable of piloting a vehicle model of arbitrary complexity along a given track, but it is also able to compute the track itself based on given criteria. The ability to generate feasible tracks, i.e. tracks that are compatible with the dynamic characteristics of the vehicle and other maneuver-defining constraints, is of crucial importance when the vehicle is operating close to its performance boundaries. A maneuver is here mathematically defined as an optimal control problem. This definition feeds into a planning layer, that determines the vehicle trajectory by solving the optimization problem for a reduced vehicle model. The resulting trajectory feeds into a control layer, that tracks the computed optimal path using a non-linear model predictive formulation and steers the multibody model accordingly. The reduced models used at the planning and tracking levels are adapted, either in a batch mode or online, to optimize the predictive capabilities of planner and tracker. The proposed framework is demonstrated on problems related to maneuvering rotorcraft systems.
Multibody dynamics, Maneuvers, Trajectory optimization, Trajectory tracking, Model predictive control, Vehicle dynamics, Flight mechanics, Aeroelasticity
File in questo prodotto:
File Dimensione Formato  
Adaptive.pdf

Accesso riservato

: Post-Print (DRAFT o Author’s Accepted Manuscript-AAM)
Dimensione 968.03 kB
Formato Adobe PDF
968.03 kB Adobe PDF   Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/553549
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 38
  • ???jsp.display-item.citation.isi??? 17
social impact