Geometric control envelope system and method for limiting commands to actuator mapping function
US12093060B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jan 31, 2022 |
| Grant date | Sep 17, 2024 |
| Priority date | — |
| Expiry date | Jan 21, 2043 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB64U2201/20
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A vehicle and method of control comprising generating a geometric control envelope in a geometric space of operation points defined by a number of control aspects, the envelope having vertices representing maximum values of the control aspects, and determining a desired operation point in the geometric space representing a control input. Further, the method includes if the desired operation point is outside the envelope, scaling up a first one of the control aspects by a first factor, determining an effective operation point in the envelope geometrically closest to the desired operation point, scaling down all of the control aspects by a second factor inverse of the first factor, and instructing the propulsion mechanisms to propel the vehicle according to the effective operation point.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.