Fuzzy guidance, navigation and control of a hopper spacecraft simulator
Brian Wisniewski · 2014
1 Chapter 1: Introduction 2 1.1 Project Description 3 Chapter 2: Previous Work 3 2.1: Simulator Evolution 3 2.1.1: First Generation 4 2.1.2: Second Generation 5 2.2: Control System Development 7 2.2.1: Control System Hardware 7 2.2.2: Roll & Pitch Control 10 2.2.3: Yaw Control 10 2.3: Conclusion 11 Chapter 3: Background Information 12 3.1: Classical Set Theory Overview 12 3.1.1: Classical Set Operators 14 3.1.2: Properties of Classical Sets 16 3.1.3: Set Mapping 17 3.1.4: Indicator Functions 17 3.2: Fuzzy Set Theory Overview 19 vi 3.2.1: Fuzzy Set Operations 21 3.2.2: Properties of Fuzzy Sets 22 3.3: Fuzzy Control 22 3.3.1: Fuzzification 23 3.3.2: Inference Engine 24 3.3.3: Defuzzification 27 Chapter 4: Third Generation Half-Scale Design 31 4.1: Frame Design 31 4.1.1: Material Selection 31 4.1.2: Design 33 4.2: Propulsion System 34 4.3: Power System 37 4.4: Landing Gear 39 4.5: Control System electronics 42 4.6: 3 Generation Half-Scale Final Design 42 Chapter 5: Kinetics and Dynamics 44 5.1: Equations of Motion Derivation 44 5.2: Motor Dynamics (System Identification) 48 Chapter 6: GNC Controller Design 50 6.1: Numerical Attitude Benchmark Analysis 50