Guidance, Navigation and Control · Nonlinear, Scheduled and Adaptive Control · M5-L2 · Advanced
Fly with One Effector Lost
Bench log · Hopper on the test range
15:10. During a hover test on Hopper's four-thruster frame, thruster 1 stopped responding. The controller kept commanding the same roll and pitch moments, the allocation spread them over four thrusters, and one of the four did nothing: the frame rolled over the safety cable.
You will find out what the damaged frame can still do, write an allocation that works with three thrusters inside their force limits, and report how much authority is gone in each direction.
Your task
Lab complete: post-mortem
You have passed every stage. Now connect it back to the theory and move on:
Output
What Python can I use?
Plain Python 3 with the standard library and the course library gnckit (import gnckit as g: transfer functions and margins, state space and LQR, the Hopper model, quaternions, a convex solver). NumPy is not available in the browser. Your code runs in a background worker: an endless loop is stopped after a few seconds and the page stays usable. It runs in your browser and is never sent anywhere.