Improving autonomous soaring via energy state estimation and extremum seeking control

Shawn C. Daugherty, Jack W. Langelaany

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper introduces autonomous soaring methods that enhance the performance of small autonomous gliders in a thermal soaring environment. Thermal centering control is aided by an asymmetric Savitzky-Golay filter that computes estimates of total energy, rate of change of total energy and the second derivative of total energy using polynomial approximations over a moving time window. Climb rate in the thermal is maximized using extremum seeking control with turn radius as the varying parameter. A simulation environment based on a commercially available multiplayer soaring simulator is described, with low level aircraft control implemented on an Arduino Mega single board computer. Higher level control is implemented on a laptop computer that communicates with the Arduino autopilot over a serial link. The utility of the thermal soaring controller is demonstrated in this high fidelity simulation: stable thermal centering and good convergence to a maximum climb rate is observed, with climb performance of the new controllers exceeding previous methods.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference
DOIs
StatePublished - Feb 28 2014
EventAIAA Guidance, Navigation, and Control Conference 2014 - SciTech Forum and Exposition 2014 - National Harbor, MD, United States
Duration: Jan 13 2014Jan 17 2014

Publication series

NameAIAA Guidance, Navigation, and Control Conference

Other

OtherAIAA Guidance, Navigation, and Control Conference 2014 - SciTech Forum and Exposition 2014
CountryUnited States
CityNational Harbor, MD
Period1/13/141/17/14

Fingerprint

State estimation
Electron energy levels
Gliders
Aircraft control
Laptop computers
Polynomial approximation
Controllers
Level control
Printed circuit boards
Simulators
Hot Temperature
Derivatives

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Systems Engineering

Cite this

Daugherty, S. C., & Langelaany, J. W. (2014). Improving autonomous soaring via energy state estimation and extremum seeking control. In AIAA Guidance, Navigation, and Control Conference (AIAA Guidance, Navigation, and Control Conference). https://doi.org/10.2514/6.2014-0260
Daugherty, Shawn C. ; Langelaany, Jack W. / Improving autonomous soaring via energy state estimation and extremum seeking control. AIAA Guidance, Navigation, and Control Conference. 2014. (AIAA Guidance, Navigation, and Control Conference).
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abstract = "This paper introduces autonomous soaring methods that enhance the performance of small autonomous gliders in a thermal soaring environment. Thermal centering control is aided by an asymmetric Savitzky-Golay filter that computes estimates of total energy, rate of change of total energy and the second derivative of total energy using polynomial approximations over a moving time window. Climb rate in the thermal is maximized using extremum seeking control with turn radius as the varying parameter. A simulation environment based on a commercially available multiplayer soaring simulator is described, with low level aircraft control implemented on an Arduino Mega single board computer. Higher level control is implemented on a laptop computer that communicates with the Arduino autopilot over a serial link. The utility of the thermal soaring controller is demonstrated in this high fidelity simulation: stable thermal centering and good convergence to a maximum climb rate is observed, with climb performance of the new controllers exceeding previous methods.",
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Daugherty, SC & Langelaany, JW 2014, Improving autonomous soaring via energy state estimation and extremum seeking control. in AIAA Guidance, Navigation, and Control Conference. AIAA Guidance, Navigation, and Control Conference, AIAA Guidance, Navigation, and Control Conference 2014 - SciTech Forum and Exposition 2014, National Harbor, MD, United States, 1/13/14. https://doi.org/10.2514/6.2014-0260

Improving autonomous soaring via energy state estimation and extremum seeking control. / Daugherty, Shawn C.; Langelaany, Jack W.

AIAA Guidance, Navigation, and Control Conference. 2014. (AIAA Guidance, Navigation, and Control Conference).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Daugherty SC, Langelaany JW. Improving autonomous soaring via energy state estimation and extremum seeking control. In AIAA Guidance, Navigation, and Control Conference. 2014. (AIAA Guidance, Navigation, and Control Conference). https://doi.org/10.2514/6.2014-0260