On-Line Adaptive Estimation and Trajectory Reshaping
KNOWLEDGE BASED SYSTEMS INC COLLEGE STATION TX
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An Adaptive Trajectory Reshaping and Control ATRC system is envisioned for RLVs to avoid catastrophic failure when subjected to performance restricting damages and failures. The ATRC is a response system that continuously reshapes and optimizes the reference RLV trajectory, such that, if physically possible, the feasibility constraints are satisfied. The focus of this paper is on two important features of the ATRC system that allow a estimation of a parameter functional over the RLV flight envelope to determine feasibility constraints, and b real time reshaping of the RLV trajectory for feasibility and optimization of end goals. The knowledge of the effects of a failure at future flight condition is required to design and reshape feasible trajectories. Our approach uses regularization of the ill-posed learning problem by using fusion of existing knowledge and geometric structure in the functional to reduce the uncertainties of future flight conditions. The paper also addresses the difficult problem of real time on-line trajectory generation based on an inverse dynamics principle. An acceptable trajectory is a solution of a two-point boundary value problem for a non-flat under-actuated non-linear differential equation of motion. The inverse dynamics approach solves a set of algebraic equations, which strictly satisfies the non-linear differential equations of a non-flat system.
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