Professional Documents
Culture Documents
by
Vincent MORIO
Slide 2 of 65
List of publications
Since october 2006:
References
² 4 international journal papers:
[1] V. Morio, F. Cazaurang and P. Vernis, \Flatness-based Hypersonic Reentry Guid-
ance of a Lifting-body Vehicle," Control Engineering Practice, 17(5):588-596,
May 2009.
[2] V. Morio, F. Cazaurang, A. Zolghadri and P. Vernis, \Onboard Path Planning for
Reusable Launch Vehicles. Application to the Shuttle Orbiter Reentry Mission,"
International Review of Aerospace Engineering, 1(6), December 2008.
[3] F. Cazaurang, V. Morio, A. Falcoz, D. Henry and A. Zolghadri, \New Model-
Based Strategies for Guidance and Health Monitoring of Experimental Reentry
Vehicles," International Review of Aerospace Engineering, 1(5):458-463,
October 2008.
[4] V. Morio, F. Cazaurang, A. Falcoz and P. Vernis, \Robust Terminal Area Energy
Management Guidance using Flatness Approach," IET Control Theory and
Applications, 2009.
² 9 international conference papers:
IEEE European Control Conference (ECC), IFAC World Congress, IFAC Sympo-
sium on Automatic Control in Aerospace (ACA), IEEE Multi-conference on Systems
and Control (MSC), International ARA Days, Conf¶erence Internationale Francophone
d'Automatique (CIFA)
Slide 3 of 65
Outline
Slide 4 of 65
Part I
Guidance problem statement:
TAEM and A&L phases
Slide 5 of 65
US Space Shuttle Orbiter STS-1
² Mission:
external tank
Insertion in low-Earth orbit of payloads and crews
payload OMS/RCS
baydoors OMS thrusters
RCS
main engines
body °ap
hypersonic TEP
phase
TAEM phase
Earth horizon
Zrwy
Yrwy
HAC r
adius
extended
parabolic
trajectory interception of
inner glideslope aimpoint
°1 begin
constant \G" touchdown
h0 pullup
constant \G" inner glideslope ¯nal
pullup maneuver °ight path angle °2 °are
runway
threshold
h1 runway
runway plane h3 °2
Slide 13 of 65
Autonomous guidance law: main objectives
Objectives:
Motivation:
Methodological approach:
Constraints:
Slide 17 of 65
Flatness-based trajectory planning
Advantages of °atness approach for trajectory planning applications
² minimum number of decision variables in the OCP: the optimization variables
become the °at output of the system
² integration-free optimization problem: the system dynamics is intrinsically sat-
is¯ed
² avoid emergence of unobservable dynamics (which may be potentially unstable)
Main drawback:
² often highly nonlinear and nonconvex OCP in the °at output space
State space
(x(tf ); u(tf ))
(x(t0 ); u(t0))
_ f ); : : : ; z(¯) (tf ))
(z(tf ); z(t
Á
Ã
_ 0); : : : ; z(¯) (t0))
(z(t0); z(t
Flat output
space
such that ½ ¡ ¢
_ : : : ; z (¯¡1)
x = Ãx ¡z; z; ¢
_ : : : ; z (¯)
u = Ãu z; z;
where Ãx and Ãu are smooth applications over the manifold X, and ® = (®1 ; : : : ; ®m ),
¯ = (¯1 ; : : : ; ¯m ) are ¯nite m-tuples of integers.
² Joint work with Prof. Jean L¶evine at the Centre Automatique et Systµemes
¶
(CAS), Ecole des Mines de Paris, France.
x(t)
_ = f (x(t); u(t)) ;
² We consider that all the the trajectory planning objectives, de¯ned either at the
\mission" level or at the \vehicle" level, may be classically formulated as a constrained
optimal control problem (OCP)
Z tf
min C0 (x(t0 ); u(t0 ; t0 )) + Ct (x(t); u(t); t) dt + Cf (x(tf ); u(tf ); tf )
x(t);u(t) t0
s.t.
x(t)
_ = f (x(t); u(t)) ; t 2 [t0 ; tf ];
l0 · A0 x(t0 ) + B0 u(t0 ) · u0 ;
lt · At x(t) + Bt u(t) · ut ; t 2 [t0 ; tf ];
lf · Af x(tf ) + Bf u(tf ) · uf ;
L0 · c0 (x(t0 ); u(t0 )) · U0 ;
Lt · ct (x(t); u(t)) · Ut ; t 2 [t0 ; tf ];
Lf · cf (x(tf ); u(tf )) · Uf :
where Bi;kj (t) is the zero order derivative of the i-th function associated to the
B-spline basis of order kj , built on the knot breakpoint sequence ´j , and cji is
the corresponding vector of control points.
2) discretization of the optimal control problem over the time partition
t0 = ¿1 < ¿2 < ¿N = tf ;
u , (u1 ; : : : ; um ) :
min J (u)
u2RM
s.t. Lb · ¤(u) · Ub ;
Xm
where M = li (ki ¡ si ) + si :
i=1
² the NLP problem can be solved onboard by using NPSOL, SNOPT, KNITRO, ...
Part III { Flatness-based trajectory planning Slide 26 of 65
Flatness-based TAEM trajectory planning
Assumptions:
lift coe±cient CL0 gliding ratio CL0 =CD0 drag coe±cient CD0
Part III { Flatness-based trajectory planning Slide 27 of 65
Flatness-based TAEM trajectory planning
² time being not a relevant parameter during atmospheric reentry, the 3 dof
model is reparameterized wrt. free trajectory duration parameter ¸
t d(:) d(:)
¿= , with 0 · ¿ · 1: normalized time (:)0 = =¸ ;
¸ d¿ dt
² the new point-mass model is given by
position velocity
µ ¶
8
> D
8 0 >
> V 0 = ¸ ¡ ¡ g sin ° ;
< x = ¸V cos  cos °; >
> µ m ¶
<
: y 0 = ¸V sin  cos °; L cos ¹ g
: 0 : °0 = ¸ ¡ cos ° ;
h = ¸V sin °: >
> mV V
>
>
: Â0 = ¸ L sin ¹ :
>
mV cos °
² this model is not °at since ¯ = 0, but the autonomous observable may be
parameterized wrt. z1 = x, z2 = y and z3 = h and the parameter ¸
p
z102 + z202 + z302 0 z10 z100 + z20 z200 + z30 z300
states: V = ; V = p ;
02 02 02
¸ z1 + z2 + z3
ø !
z30 0 z300 (z102 + z202 ) ¡ z30 (z10 z100 + z20 z200 )
° = arctan p ; ° = p ;
z102 + z202 (z102 + z202 + z302 ) z102 + z202
µ ¶ z200 z10 ¡ z20 z100
z20 Â0 = :
 = arctan ; z102 + z202
z10
¯nd (z(t); ¸)
s.t.
Ãx (z(¿0 ); ¸) = x0 ;
Ãu (z(¿0 ); ¸) = u0 ;
¤¿ (Ãx (z(¿ ); Ãu (z(¿ ); ¸) = 0; ¿ 2 [¿0 ; ¿f ];
0 · ¡ (Ãx (z(¿ ); ¸); Ãu (z(¿ ); ¸)) · ¡max ; ¿ 2 [¿0 ; ¿f ];
0 · q(Ãx (z(¿ ); ¸) · q max ; ¿ 2 [¿0 ; ¿f ];
umin · Ãu (z(¿ ); ¸) · umax ; ¿ 2 [¿0 ; ¿f ];
Ãx (z(¿f ); ¸) = xf ;
Ãu (z(¿f ); ¸) = uf ;
Slide 34 of 65
Fault-tolerant trajectory planning
Main objective:
Motivations:
How?
Trimmability maps:
² Used to obtain the Mach-® regions over which the vehicle can be statically
trimmed along the trajectory
feasible region
feasible regions
² Advantages: the small number of assumptions about faults types and magnitudes
provides a good level of autonomy to the trajectory replanning algorithm.
² Drawbacks: due to the additional number of optimization variables p corresponding
to aerodynamic control surfaces, the total number of decision variables of the optimal
control problem incrases from nz to nz + p, which directly a®ects the CPU time.
without trim
with trim
constraints with trim
constraints
constraints
without trim
constraints
reference trajectory (w/wo trim constraints) trim map with ±eol = 17± and ±sb = 0±
Part IV { Fault-tolerant trajectory planning Slide 41 of 65
Part V
Integration of aerologic disturbances
Slide 42 of 65
Integration of aerologic disturbances
Main objective:
Motivation:
How?
² integration of wind ¯eld components in the optimal control problem
position velocity
8 µ ¶
> 0 D
8 0 >
> V = ¸ ¡ ¡ g sin ° ;
< x = ¸V cos  cos ° + ¿x (x; y; h); >
> µ m ¶
<
: y0 = ¸V sin  cos ° + ¿y (x; y; h); L cos ¹ g
: 0 : °0 = ¸ ¡ cos ° ;
h = ¸V sin ° + ¿h (x; y; h): >
> mV V
>
>
: Â0 = ¸ L sin ¹ :
>
mV cos °
¯nd (z(t); ¸)
s.t.
Ãx (z(¿0 ); ¸; ¨) = x0 ;
Ãu (z(¿0 ); ¸; ¨) = u0 ;
¤¿ (Ãx (z(¿ ); Ãu (z(¿ ); ¸; ¨) = 0; ¿ 2 [¿0 ; ¿f ];
0 · ¡ (Ãx (z(¿ ); ¿ ); Ãu (z(¿ ); ¸; ¨)) · ¡max ; ¿ 2 [¿0 ; ¿f ];
0 · q(Ãx (z(¿ ); ¸; ¨) · q max ; ¿ 2 [¿0 ; ¿f ];
umin · Ãu (z(¿ ); ¸; ¨) · umax ; ¿ 2 [¿0 ; ¿f ];
Ãx (z(¿f ); ¸; ¨) = xf ;
Ãu (z(¿f ); ¸; ¨) = uf :
3D reference trajectories projection in the (x; y) plane projection in the (x; h) plane
Slide 46 of 65
Optimal control problem convexi¯cation
Main objective:
Motivations:
² the OCP described in the °at output space is often highly nonlinear and
nonconvex (Ross, 2006)
How?
² used to perform a trade-o® between the complexity of the shapes and the
numerical tractability in high order °at output spaces
Convex "1 = 0:1 "1 = 1:0 "1 = 2:0 "1 = 2:5
Drawbacks:
"2 = 2:0
Rotation
Pinching
where p is the pinching direction (vp = 0). In addition, the vector of anomalies µ satis¯es
µi 2 [¡¼; ¼[ if i = 1 and µi 2 [¡ ¼2 ; ¼2 ] if i = 2; : : : ; n ¡ 1.
No. of anomalies
1
where p is the pinching direction (vp = 0). The radius r(µ) = Ân;n
is given by
8 2Ã Q 3 "21
> ! 2 Ã Q n¡1 ! 2
>
> n¡1
cos µk "1
sin µ1 cos µk "1
>
> Ân;2 = 4 k=1
+ k=2 5 ; j = 2;
>
>
< a1 a2
> 2 Ã Q n¡1 !" 2 3 "j¡1
>
> 2
>
>
2 sin µj¡1 k=j cos µk j¡1
> 4 (Ân;j¡1 ) "j¡1 + 5
: Ân;j
> =
aj
; j = 3; : : : ; n;
No. of anomalies
Migration Selection
Reinsertion Crossover
Generation
of new
population
Z tf
min C0 (Ãx (z(t0 )); Ãu (z(t0 )); t0 ) + Ct (Ãx (z(t)); Ãu (z(t)); t) dt
convex superquadric z(t) t0
shape
+ Cf (Ãx (z(tf )); Ãu (z(tf )); tf )
s.t.
l0 · A0 z(t0 ) · u0 ;
lt · At z(t) · ut ; t 2 [t0 ; tf ];
lf · Af z(tf ) · uf ;
trajectory L0 · c0 (Ãx (z(t0 )); Ãu (z(t0 ))) · U0 ;
0 · Fni (ª¤ ; z(t)) · 1; t 2 [t0 ; tf ];
Lf · cf (Ãx (z(tf )); Ãu (z(tf ))) · Uf :
(a) (c)
(b) (d)
The initial nonconvex domains are de¯ned by
¡ ¢¡ ¢
(a) D1 = fxjx 2 R3 ; (x1 ¡ 0:9)2 + x22 + x23 ¡ 1 (x1 + 0:9)2 + x22 + x23 ¡ 1 ¡
0:3 · 0g,
¡ ¢ ¡ ¢
(b) D2 = fxjx 2 R3 ; 4x21 x21 + x22 + x23 + x3 + x22 x22 + x23 ¡ 1 · 0g,
³p ´3
(c) D3 = fxjx 2 R ; 3
x21 + x23 ¡ 3 + x22 ¡ 1 · 0g,
z30
qmax
Vmin
°>0
z3
(z10 ; z20 )
geometric interpretation
where ª¤ are optimal de¯ning parameters and z = (z3 ; z10 ; z20 ; z30 ; ¸).
Slide 61 of 65
... and perspectives
Adequately manage the transcient regime between the occurence of a fault and
the integration of the reshaped trajectory in the GNC system
Slide 62 of 65
List of publications
References
International journal papers
[1] V. Morio, F. Cazaurang and P. Vernis, \Flatness-based Hypersonic Reentry Guidance of
a Lifting-body Vehicle," Control Engineering Practice, 17(5):588-596, May 2009.
[2] V. Morio, F. Cazaurang, A. Zolghadri and P. Vernis, \Onboard Path Planning for
Reusable Launch Vehicles. Application to the Shuttle Orbiter Reentry Mission," In-
ternational Review of Aerospace Engineering, 1(6), December 2008.
[3] F. Cazaurang, V. Morio, A. Falcoz, D. Henry and A. Zolghadri, \New Model-Based
Strategies for Guidance and Health Monitoring of Experimental Reentry Vehicles," In-
ternational Review of Aerospace Engineering, 1(5):458-463, October 2008.
[4] V. Morio, F. Cazaurang, A. Falcoz and P. Vernis, \Robust Terminal Area Energy Man-
agement Guidance using Flatness Approach," IET Control Theory and Applica-
tions, 2009.
[5] V. Morio, F. Cazaurang, A. Zolghadri and J. L¶
evine, \A Computation of ±-Flat Outputs
for Linear Delay and In¯nite Dimensional Systems," IEEE Transactions in Auto-
matic Control, in preparation.
References
Conference papers
[1] V. Morio, F. Cazaurang and A. Zolghadri and P. Vernis, \A new Path Planner based on
Flatness Approach. Application to an Atmospheric Reentry Mission," Proceedings of
the European Control Conference (ECC'09), Budapest, Hungary. 2009.
[2] V. Morio, F. Cazaurang and A. Zolghadri, \On the Formal Characterization of Reduced-
Order Flat Outputs over an Ore Algebra," Proceedings of the 2nd IEEE Multi-
conference on Systems and Control (MSC) / 9th IEEE International Sympo-
sium on Computer-aided Control System Design (CACSD), pp. 207-214, San
Antonio, Texas. 2008.
Slide 63 of 65
List of publications
conference on Systems and Control (MSC) / 9th IEEE International Sympo-
sium on Computer-aided Control System Design (CACSD), pp. 207-214, San
Conference papers (cont'd)
Antonio, Texas. 2008.
[3] V. Morio, F. Cazaurang and A. Zolghadri, \An E®ective Algorithm for Analytical Com-
putation of Flat Outputs over the Weyl Algebra," Proceedings of the 17th IFAC
World Congress, Seoul, Korea. 2008.
[4] V. Morio, F. Cazaurang and A. Zolghadri, \Sur la Caract¶
erisation Formelle de Sorties
Plates d'Ordre R¶
eduit sur un Algµ
ebre de Weyl," Actes de la Conf¶ erence Interna-
tionale Francophone d'Automatique, Bucarest, Roumanie. 2008.
[5] V. Morio, F. Cazaurang, A. Zolghadri and P. Vernis, \Onboard Terminal Area Man-
agement Path Planning using Flatness Approach. Application to Shuttle orbiter STS-1
Vehicle," Proceedings of the 2nd International ARA Days, Arcachon, France.
2008.
[6] V. Morio, A. Falcoz, F. Cazaurang, D. Henry, A. Zolghadri, M. Ganet, P. Vernis and E.
Bornschlegl, \SICVER Project: Innovative FDIR Strategies for Experimental Reentry
Vehicles," Proceedings of the 2nd International ARA Days, Arcachon, France.
2008.
[7] V. Morio, A. Falcoz, P. Vernis and F. Cazaurang, \On the design of a °atness-based guid-
ance algorithm for the terminal area energy management of a winged-body vehicle," Pro-
ceedings of the 17th IFAC Symposium on Automatic Control in Aerospace,
Toulouse, France. 2007.
[8] P. Vernis, V. Morio and E. Ferreira, \Genetic Algorithm for coupled RLV trajectory and
guidance optimization," Proceedings of the 17th IFAC Symposium on Automatic
Control in Aerospace, Toulouse, France. 2007.
[9] V. Morio, P. Vernis and F. Cazaurang, \Hypersonic Reentry and Flatness Theory. Appli-
cation to medium L/D Entry Vehicle," Proceedings of the 1st International ARA
Days, Arcachon, France. 2006.
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THANK YOU FOR
YOUR ATTENTION