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Advanced Mathematics for Control System Design: Guidance, Navigation, and Control (GN&C) StudiesThe study and control of inverted pendulum dynamics is of interest to NASA to better control the stability of a rocket. The different compartments of a rocket can move within a rocket during launch (i.e., rocket fuel slosh) and can affect its overall trajectory. Focusing on the inverted pendulum robot, PENNY, the dynamics are reduced to a simpler model which can prove to be more insightful for deriving more complex models and control laws. From the inverted pendulum bot, we can incorporate complexity into our physical model and approximate to the dynamics of a rocket (i.e., flexible inverted pendulum, multistage pendulum).
Document ID
20190002679
Acquisition Source
Kennedy Space Center
Document Type
Contractor or Grantee Report
Authors
Peltroche, Joseph
(Queens Coll. Flushing, NY, United States)
Morales Zambrana, Anibal E.
(Florida International Univ. Miami, FL, United States)
Date Acquired
April 22, 2019
Publication Date
April 11, 2019
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Spacecraft Design, Testing And Performance
Report/Patent Number
KSC-E-DAA-TN67783
Meeting Information
Meeting: Kennedy Space Center (KSC) Pathways Showcase Spring 2019
Location: Cocoa Beach, FL
Country: United States
Start Date: April 18, 2019
Sponsors: NASA Kennedy Space Center
Funding Number(s)
CONTRACT_GRANT: NNX13AJ45A
Distribution Limits
Public
Copyright
Public Use Permitted.
Technical Review
NASA Technical Management
Keywords
Autonomy
Control Systems
Robotics
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