Dynamical formulations and control of an automatic retargeting system

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Title: Dynamical formulations and control of an automatic retargeting system
Author: Sovinsky, Michael Charles
Abstract: The Poincare equations , also known as Lagrange's equations in quasi coordinates , are revisited with special attention focused on a diagonal form . The diagonal form stems from a special choice of quasi velocities that were first introduced by Georg Hamel nearly a century ago . The form has been largely ignored because the quasi velocities create so -called Hamel coefficients that appear in the governing equations and are based on the partial derivative of the mass matrix factorization . Consequently , closed -form expressions for the Hamel coefficients can be difficult to obtain and relying on finite -dimensional , numerical methods are unattractive . In this thesis we use a newly developed operator overloading technique to automatically generate the Hamel coefficients through exact partial differentiation together with numerical evaluation . The equations can then be numerically integrated for system simulation . These special Poincare equations are called the Hamel Form and their usefulness in dynamic modeling and control is investigated . Coordinated control algorithms for an automatic retargeting system are developed in an attempt to protect an area against direct assaults . The scenario is for a few weapon systems to suddenly be faced with many hostile targets appearing together . The weapon systems must decide which weapon system will attack which target and in whatever order deemed sufficient to defend the protected area . This must be performed in a real -time environment , where every second is crucial . Four different control methods in this thesis are developed . They are tested against each other in computer simulations to determine the survivability and thought process of the control algorithms . An auction based control algorithm finding targets of opportunity achieved the best results .
URI: http : / /hdl .handle .net /1969 .1 /4836
Date: 2007-04-25


Dynamical formulations and control of an automatic retargeting system. Available electronically from http : / /hdl .handle .net /1969 .1 /4836 .

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