Systems and methods for controlling dynamic systems
First Claim
1. A control system for controlling velocity and attitude of a dynamic system, the control system comprising:
- a velocity controller configured to receive a desired velocity command and output a velocity error in the form of Euler angle commands; and
an attitude controller system operatively connected to the velocity controller to receive Euler angle commands, the attitude controller system comprisinga converter configured to receive the Euler angle commands and output a desired quaternion based on the Euler angle commands,an attitude error generator configured to receive the desired quaternion and an estimated quaternion indicative of an estimated attitude of the dynamic system, and is configured to output attitude errors associated with the dynamic system, andan attitude controller configured to receive the attitude errors and to output error commands to the dynamic system based on the attitude errors,wherein the error commands are configured to reduce the attitude errors and the velocity errors.
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Accused Products
Abstract
A control system (12) for controlling velocity and attitude of a dynamic system (20) includes a velocity controller configured to receive a desired velocity command and output a velocity error in the form of Euler angle commands to an attitude controller system. The attitude controller system includes a converter (14) configured to receive the Euler angle commands and output a desired quaternion based on the Euler angle commands. The attitude controller system further includes an attitude error generator (16) configured to receive the desired quaternion and an estimated quaternion indicative of an estimated velocity and attitude of the dynamic system (20) and to output attitude errors associated with the dynamic system (20). The attitude controller system also includes an attitude controller (18) configured to receive the attitude errors and to output error commands to the dynamic system (20) based on the attitude errors.
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Citations
53 Claims
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1. A control system for controlling velocity and attitude of a dynamic system, the control system comprising:
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a velocity controller configured to receive a desired velocity command and output a velocity error in the form of Euler angle commands; and an attitude controller system operatively connected to the velocity controller to receive Euler angle commands, the attitude controller system comprising a converter configured to receive the Euler angle commands and output a desired quaternion based on the Euler angle commands, an attitude error generator configured to receive the desired quaternion and an estimated quaternion indicative of an estimated attitude of the dynamic system, and is configured to output attitude errors associated with the dynamic system, and an attitude controller configured to receive the attitude errors and to output error commands to the dynamic system based on the attitude errors, wherein the error commands are configured to reduce the attitude errors and the velocity errors. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. An attitude controller system for controlling attitude of a dynamic system, the attitude controller system comprising:
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a converter configured to receive a velocity error in the form of Euler angle commands and output a desired quaternion based on the Euler angle commands; an attitude error generator configured to receive the desired quaternion and an estimated quaternion indicative of an estimated attitude of the dynamic system, and to output attitude errors associated with the dynamic system; and an attitude controller configured to receive the attitude errors and to output error commands to the dynamic system based on the attitude errors, wherein the error commands are configured to reduce the attitude errors and the velocity errors. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40)
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41. A method of controlling velocity and attitude of a dynamic system, the method comprising:
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converting a velocity error associated with the dynamic system into Euler angle commands; converting the Euler angle commands into a desired quaternion; generating, using an attitude error generator, attitude errors associated with the dynamic system based on the desired quaternion and an estimated quaternion indicative of an estimated attitude of the dynamic system; and controlling the velocity and attitude of the dynamic system to reduce the attitude errors and the velocity errors, wherein the dynamic system comprises a vehicle. - View Dependent Claims (42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53)
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Specification