REACHING A TARGET WITHIN A GPS-DENIED OR COSTLY AREA: A TWO-STAGE OPTIMAL CONTROL APPROACH

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dc.contributor.advisorMartins, Nuno Cen_US
dc.contributor.authorCheng, Shengen_US
dc.contributor.departmentElectrical Engineeringen_US
dc.contributor.publisherDigital Repository at the University of Marylanden_US
dc.contributor.publisherUniversity of Maryland (College Park, Md.)en_US
dc.date.accessioned2018-09-19T05:32:32Z
dc.date.available2018-09-19T05:32:32Z
dc.date.issued2018en_US
dc.description.abstractIn this thesis, a new class of problem is studied where a mobile agent is controlled to reach a target. Especially, the target is enclosed within a special area. The presence of this area requires a controller to have two stages: the outer stage steers the mobile agent to enter such area while the inner stage steers the mobile agent towards the target. We consider two types of the special area: a time-costly area and a GPS-denied area. For the time-costly area, we formulate a two-stage optimal control problem where time is explicitly specified in the cost function. We solve the problem by solving its subproblems. The key subproblem is a nonconvex quadratic programming with two quadratic constraints (QC2QP). We study the QC2QP independently and prove the necessary and sufficient conditions for strong duality in a general QC2QP. Such conditions enable efficient solution methods for a QC2QP utilizing its dual and semidefinite relaxation. For the GPS-denied area, we formulate another two-stage optimal control problem where perturbation is considered. To deal with the perturbation, we propose a robust controller using the variable horizon model predictive control. The performance of the two-stage controller for each type of the special area is demonstrated in simulations. We construct and implement a two-stage controller that can steer a quadrotor to reach a target enclosed within a denied area. Such controller utilizes the formulation and solution methods in the theoretical study. We show experimental results where the controller can run in real-time using off-the-shelf fast optimization solvers. We also conduct a bat experiment to learn bat's strategy for target reaching inside a denied area.en_US
dc.identifierhttps://doi.org/10.13016/M2125QD4J
dc.identifier.urihttp://hdl.handle.net/1903/21417
dc.language.isoenen_US
dc.subject.pqcontrolledElectrical engineeringen_US
dc.subject.pquncontrolledbat experimenten_US
dc.subject.pquncontrolledGPS-denieden_US
dc.subject.pquncontrolledquadratically constrained quadratic programmingen_US
dc.subject.pquncontrolledquadrotor experimenten_US
dc.subject.pquncontrolledtwo-stage optimal controlen_US
dc.titleREACHING A TARGET WITHIN A GPS-DENIED OR COSTLY AREA: A TWO-STAGE OPTIMAL CONTROL APPROACHen_US
dc.typeThesisen_US

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