SLIP-based Iterative Learning for Efficient and Compliant Locomotion of Articulated Soft Quadrupeds

Effectively controlling and exploiting the natural dynamics of Articulated Soft Robots for energy-efficient motions remains challenging. In literature, the problem is often split in two; in energy-efficient motion planning and structure-preserving control, where the focus is on one, and the other is largely disregarded. This work aims to unify...

Landing Trajectory Design Using Invariant Manifolds of Quasi Satellite Orbits: A Phobos Case Study

Quasi-satellite orbits (QSOs) are orbits around the smaller primary in three-body systems. The MMX mission (developed by JAXA, to be launched in 2024) will use QSOs to orbit Phobos, before landing on its surface. This work studies the feasibility of using the invariant manifolds of three-dimensional QSOs for designing landing trajectories, using...

Optimal Control And Energy Management For Hybrid Aircraft

Interest grows rapidly in electric and hybrid electric aircraft. To determine the optimal performance and energy management required with such novel powertrain configurations, a knowledge-based aircraft and powertrain performance model is developed. The model is then used to set up an optimal control problem, which is transcribed to a non-linear...

Investigating the use of neural network surrogate models in the evolutionary optimization of interplanetary low-thrust trajectories

Building on recent advances in the fields of low-thrust trajectory optimization based on shaping methods, Artificial Neural Networks, and surrogate models in Evolutionary Algorithms, an investigation into a novel optimization routine is conducted. A flexible Python tool to evaluate linked trajectories in a two-body model based on the hodographic...

Multi-Objective Trajectory Optimization for a Scaled Vehicle

The introduction of control systems in the automotive industry has significantly increased safety. Improved control over the vehicle dynamics has been shown to contribute to substantial reductions in the number of deaths and serious injuries resulting from road traffic crashes. The introduction of Electronic Stability Control yielded impressive...

Gaussian Process Models for Preliminary Low-Thrust Trajectory Optimization

Low-thrust trajectories can benefit the search for propellant-optimal trajectories, but increases in modeling complexity and computational load remain a challenge for efficient mission design and optimization. An approach for developing models utilizing Gaussian Process (GP) regression and classification is proposed to perform computationally...

A metaheuristic optimisation algorithm for network-wide 4D trajectory mid-term planning in a Trajectory Based Operations environment

To accommodate the fast growing air traffic in a safe and efficient way, an ATM paradigm shift from current Time Based Operations towards Trajectory Based Operations (TBO) is envisioned. TBO entails the exchange, maintenance and use of consistent 4D trajectory information for collaborative decision-making on the flight. This thesis addresses a...

Optimizing Air-to-Air Missile Guidance using Reinforcement Learning

To increase performance of air-to-air missile guidance, a novel guidance law is developed using reinforcement learning methods. This guidance law is based on behavior obtained from optimal control methods and subsequently aims to approximate its performance. The study compares the developed guidance law to a traditional guidance law and optimal...

Distributed Collision Free Trajectory Optimization for the Reconfiguration of a Spacecraft Formation

In recent years there has been an increasing interest in formation flying with many lightweight spacecraft, as satellite missions can potentially become cheaper and more flexible. An example of such mission is the Silicon Wafer Integrated Femtosatellites mission, consisting of 100 to 1000 spacecraft with a mass of 0.1 kg. Due to modest control...

Time-optimal solar sail transfers from Earth to pole-sitters at Mars and Venus

Recent studies have shown the feasibility of (quasi-)pole-sitter orbits at Mars and Venus, which involves a satellite positioned along or near the polar axis of a planet in order to have a continuous, hemispherical view of the planet's polar regions. In order to further demonstrate the feasibility of this mission concept, this thesis...

Design of robust terminal procedures: By optimization of arrival and departure trajectories

With the growth of the air traffic movements and the population of people living around airports, the number of awakenings due to aircraft noise has increased. ICAO has defined four research fields to reduce noise and one of them is implementation of noise abatement operational procedures. This includes different trajectory optimization methods,...

Trajectory Optimization for a Mission to the Solar Bow Shock and Minor Planets

In November 2003 the Voyager 1 spacecraft pierced through the Solar system’s termination shock, followed by Voyager 2 in August 2007. These events marked the beginning of interstellar exploration by spacecraft, which caused a wave of renewed interest in the outer heliosphere throughout the scienti?c community. This thesis research investigated...