Robust Nonlinear Control Theory with Applications to Aerospace Vehicles

Richard Murray, John Doyle, Jerry Marsden, Steve Wiggins Control and Dynamical Systems California Institute of Technology Gary Balas University of Minnesota Blaise Morton Honeywell Technology Center

Welcome to the homepage for the Caltech PRET program on Robust Nonlinear Control Theory with Applications to Aerospace Vehicles. This program ran from 1995-2000 under support by the Air Force Office of Scientific Research (Marc Q. Jacobs, Program Monitor).  This information was collected by Richard M. Murray; the page is no longer actively maintained, but serves as an archive for work performed by the center.

Project Overview

The focus of this program was on fundamental research in general methods of analysis and design of complex uncertain nonlinear systems. Our approach built on our successes in blending robust and nonlinear control methods,
with a much greater emphasis on the use of local and global techniques in nonlinear dynamical systems theory. Specific areas of interest included real-time trajectory generation for unmanned aerial vehicles, geometric
mechanics and nonlinear stabilization, and unified techniques for stabilization of nonlinear systems that combine model predictive control techniques with control Lyapunov function techniques. In addition, we explored techniques for modeling and control of chemically reacting systems, with applications to gas turbine engines and materials growth.

Papers and Presentations

Technical papers [Index, Search]

Selected archival papers describing some of the work in this project:

• Heteroclinic connections between periodic orbits and resonance transitions in celestial mechanics
• Nonlinear Optimal Control: A Control Lyapunov Function and Receding Horizon Perspective
• Real Time Trajectory Generation for Differentially Flat Systems
• Numerically Efficient Robustness Analysis of Trajectory Tracking for Nonlinear System
• Optimally scaled H_inf full information control with real uncertainty: Theory and application
• A Testbed for Nonlinear Flight Control Techniques: The Caltech Ducted Fan

For a more complete list, see the publication index or search for a specific publication.

Project reports and presentations

• Annual reports (PDF): 1996, 1997, 1998, 1999, 2000, Final
• Summary presentations (PDF): 1996, 1997, 1998, 1999, 2000
• Killer charts (PDF): 1997, 1998, 1999, 2000
• AASERT awards
  • 61063 (1996, LPV-UMN): 1996, 1997, 1998, Final
  • 61051 (1997; trajgen): 1997, 1998, 1999, 2000
  • 61492 (1998; NL tools): 1998, 1999, 2000

People

The following individuals were supported or partially supported by this award:

Faculty and senior researchers

• Richard M. Murray (Caltech) - Professor and Principal Investigator
• John C. Doyle (Caltech) - Professor and Co-Investigator
• Jerrold E. Marsden (Caltech) - Professor and Co-Investigator
• Gary Balas (U. Minnesota) - Professor and Co-Investigator
• Sunil Agrawal (U. Delaware) - Visiting Professor at Caltech, 1997-1998
• John E. Hauser (U. Colorado) - Visiting Professor at Caltech, 1998-1999
• David Chichka (Caltech/UCLA) - Research Associate, 1995-2000
• Sanjay Lall (Caltech) - Postdoctoral Scholar and Research Engineering, 1996-2000

Postdoctoral Scholars

• Brianno Coller, Caltech, 1996-97
• Geir Dullerud, Caltech, 1995-96
• Ian Fialho, UMN, 1998-99
• Sameer Jalnapurkar, Caltech, 1998-2000
• Wang Sang Koon, Caltech, 1997-98
• Banavara Sashikanth, Caltech, 1997-2000
• Willem Sluis, Caltech, 1995-96

Graduate Students

Transitions

Government and industry interactions [Index, Search]

Over the course of the program, many companies and government labs have been involved in the work of the center.  Click on the links below for more information about the nature of the interactions and transitions:

Software

The following software has been developed as part of this program.  Highlighted links are available for download.  For other software, please contact Richard Murray.

• LIBTG - trajectory generation library for differentially flat systems
• Worst - a matlab package for worst case analysis of nonlinear systems along trajectories
• DFA - discrete function approximation, a nonlinear control analysis and design package
• NTG - nonlinear trajectory generation package

Additional Information

Continuing activities: projects that have continued the work started in this program

• Formation Flight for Micro-Satellites (AFOSR)
• High Confidence Reconfigurable Distributed Control (DARPA SEC)
• Multi-Vehicle, Wireless Testbed for Networked Control, Communications, and Computing (AFOSR)

Related web resources

• Caltech Control and Dynamical Systems
• Ducted Fan Homepage (somewhat out of date)
• Administrative Information (authorized users only)
• Archive of Aircraft Simulation Models (warning: incomplete and not well documented)