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Description:
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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 . |