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NASA NTRS1989

A variable-gain output feedback control design methodology

A digital control system design technique is developed in which the control system gain matrix varies with the plant operating point parameters. The design technique is obtained by formulating the problem as an optimal stochastic output feedback control law with variable gains. This approach provides a control theory framework within which the operating range of a control law can be significantly extended. Furthermore, the approach avoids the major shortcomings of the conventional gain-scheduling techniques. The optimal variable gain output feedback control problem is solved by embedding the Multi-Configuration Control (MCC) problem, previously solved at ICS. An algorithm to compute the optimal variable gain output feedback control gain matrices is developed. The algorithm is a modified version of the MCC algorithm improved so as to handle the large dimensionality which arises particularly in variable-gain control problems. The design methodology developed is applied to a reconfigurable aircraft control problem. A variable-gain output feedback control problem was formulated to design a flight control law for an AFTI F-16 aircraft which can automatically reconfigure its control strategy to accommodate failures in the horizontal tail control surface. Simulations of the closed-loop reconfigurable system show that the approach produces a control design which can accommodate such failures with relative ease. The technique can be applied to many other problems including sensor failure accommodation, mode switching control laws and super agility.

Halyo, Nesim↗

NASA NTRS1987

Nonlinear feedback control of multiple robot arms

Multiple coordinated robot arms are modeled by considering the arms: (1) as closed kinematic chains, and (2) as a force constrained mechanical system working on the same object simultaneously. In both formulations a new dynamic control method is discussed. It is based on a feedback linearization and simultaneous output decoupling technique. Applying a nonlinear feedback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system. The linear system control theory and optimal control theory are used to design robust controllers in the task space. The first formulation has the advantage of automatically handling the coordination and load distribution among the robot arms. In the second formulation, by choosing a general output equation, researchers can superimpose the position and velocity error feedback with the force-torque error feedback in the task space simultaneously.

Tarn, T. J.↗

NASA NTRS1988

Monolithic nonplanar ring lasers - Resistance to optical feedback

The sensitivity of a monolithic unidirectional nonplanar ring laser to optical feedback depends on the polarization eigenmodes of the resonator, which are complicated functions of the resonator geometry. Resonator geometries that increase the loss difference between the two directions of propagation around the ring improve the resistance of the lasers to optical feedback. Here, measurements on Nd:YAG nonplanar ring lasers having two different ring geometries are discussed. Currently, 1 percent optical feedback produces a 10 percent reduction in useful output power for the more feedback-resistant oscillator, a tenfold improvement over previous designs.

Nilsson, Alan C.↗

NASA NTRS1988

Dynamic control of robot arms in tasks space using nonlinear feedback

Differential geometric system and control theory is used to develop a new dynamic system feedback technique for robot task space commands. The nonlinear robot arm system is feedback-linearized and simultaneously is output-decoupled by an appropriate nonlinear feedback and nonlinear coordinate transformation. On the joint space level, the scheme only commands drive forces or torques or their equivalent quantities addressed to the joint drives. An important property of the technique is that the planned and commanded task space trajectory together with its time derivatives directly drive the robot arm through a linear system model. A method for task space motion planning matching the requirements of the new scheme is briefly presented. The implications of the new technique for second and third order model robot arms with and without force feedback measuremnts and for two or more dynamically cooperating robot arms are discussed.

Bejczy, A. K.↗

NASA NTRS1990

Intercomparison and interpretation of climate feedback processes in 19 atmospheric general circulation models

The present study provides an intercomparison and interpretation of climate feedback processes in 19 atmospheric general circulation models. This intercomparison uses sea surface temperature change as a surrogate for climate change. The interpretation of cloud-climate interactions is given special attention. A roughly threefold variation in one measure of global climate sensitivity is found among the 19 models. The important conclusion is that most of this variation is attributable to differences in the models' depiction of cloud feedback, a result that emphasizes the need for improvements in the treatment of clouds in these models if they are ultimately to be used as reliable climate predictors. It is further emphazied that cloud feedback is the consequence of all interacting physical and dynamical processes in a general circulation model. The result of these processes is to produce changes in temperature, moisture distribution, and clouds which are integrated into the radiative response termed cloud feedback.

Cess, R. D.↗

NASA NTRS1990

Feedback Processes and Climate Response

The response of the climate system to an external perturbation--e.g., a change in solar irradiance or a change in atmospheric opacity due to an increase in CO2--depends rather strongly on feedback processes in the system, which either amplify or dampen the effects of the initial perturbation. A simple representation of the climate system is used to compare several important feedbacks, based upon general circulation model (GCM) simulations by various investigators. The models are in general agreement with respect to water vapor feedback, but in wide disagreement with respect to cloud feedback. Because of the arguments raised by Lindzen (1990)--that the processes which determine water vapor mixing ratio in the upper atmosphere are quite different from those which operate in the planetary boundary layer, and that upper tropospheric water vapor might actually decrease even when the boundary layer is getting warmer and more moist--researchers undertook a study to determine the sensitivity of climate to changes in water vapor at various levels in the troposphere. The result is that climate is just as sensitive to percentage changes in upper tropospheric water vapor, where the mixing ratio is very small, as it is to percentage changes in the boundary layer, which contains the bulk of total column water vapor.

Arking, Albert↗

NASA NTRS1990

Acceleration and torque feedback for robotic control - Experimental results

Gross motion control of robotic manipulators typically requires significant on-line computations to compensate for nonlinear dynamics due to gravity, Coriolis, centripetal, and friction nonlinearities. One controller proposed by Luo and Saridis avoids these computations by feeding back joint acceleration and torque. This study implements the controller on a Puma 600 robotic manipulator. Joint acceleration measurement is obtained by measuring linear accelerations of each joint, and deriving a computationally efficient transformation from the linear measurements to the angular accelerations. Torque feedback is obtained by using the previous torque sent to the joints. The implementation has stability problems on the Puma 600 due to the extremely high gains inherent in the feedback structure. Since these high gains excite frequency modes in the Puma 600, the algorithm is modified to decrease the gain inherent in the feedback structure. The resulting compensator is stable and insensitive to high frequency unmodeled dynamics. Moreover, a second compensator is proposed which uses acceleration and torque feedback, but still allows nonlinear terms to be fed forward. Thus, by feeding the increment in the easily calculated gravity terms forward, improved responses are obtained. Both proposed compensators are implemented, and the real time results are compared to those obtained with the computed torque algorithm.

Mclnroy, John E.↗

NASA NTRS1991

Interpretation of snow-climate feedback as produced by 17 general circulation models

Snow feedback is expected to amplify global warming caused by increasing concentrations of atmospheric greenhouse gases. The conventional explanation is that a warmer earth will have less snow cover, resulting in a darker planet that absorbs more solar radiation. An intercomparison of 17 general circulation models, for which perturbations of sea surface temperature were used as a surrogate climate change, suggests that this explanation is overly simplistic. The results instead indicate that additional amplification or moderation may be caused both by cloud interactions and longwave radiation. One measure of this net effect of snow feedback was found to differ markedly among the 17 climate models, ranging from weak negative feedback in some models to strong positive feedback in others.

Cess, R. D.↗

NASA NTRS1992

A stochastic optimal feedforward and feedback control methodology for superagility

A new control design methodology is developed: Stochastic Optimal Feedforward and Feedback Technology (SOFFT). Traditional design techniques optimize a single cost function (which expresses the design objectives) to obtain both the feedforward and feedback control laws. This approach places conflicting demands on the control law such as fast tracking versus noise atttenuation/disturbance rejection. In the SOFFT approach, two cost functions are defined. The feedforward control law is designed to optimize one cost function, the feedback optimizes the other. By separating the design objectives and decoupling the feedforward and feedback design processes, both objectives can be achieved fully. A new measure of command tracking performance, Z-plots, is also developed. By analyzing these plots at off-nominal conditions, the sensitivity or robustness of the system in tracking commands can be predicted. Z-plots provide an important tool for designing robust control systems. The Variable-Gain SOFFT methodology was used to design a flight control system for the F/A-18 aircraft. It is shown that SOFFT can be used to expand the operating regime and provide greater performance (flying/handling qualities) throughout the extended flight regime. This work was performed under the NASA SBIR program. ICS plans to market the software developed as a new module in its commercial CACSD software package: ACET.

Halyo, Nesim↗

NASA NTRS1992

An exploratory investigation of the flight dynamics effects of rotor rpm variations and rotor state feedback in hover

This paper presents the results of an analytical study conducted to investigate airframe/engine interface dynamics, and the influence of rotor speed variations on the flight dynamics of the helicopter in hover, and to explore the potential benefits of using rotor states as additional feedback signals in the flight control system. The analytical investigation required the development of a parametric high-order helicopter hover model, which included heave/yaw body motion, the rotor speed degree of freedom, rotor blade motion in flapping and lead-lag, inflow dynamics, a drive train model with a flexible rotor shaft, and an engine/rpm governor. First, the model was used to gain insight into the engine/drive train/rotor system dynamics and to obtain an improved simple formula for easy estimation of the dominant first torsional mode, which is important in the dynamic integration of the engine and airframe system. Then, a linearized version of the model was used to investigate the effects of rotor speed variations and rotor state feedback on helicopter flight dynamics. Results show that, by including rotor speed variations, the effective vertical damping decreases significantly from that calculated with a constant speed assumption, thereby providing a better correlation with flight test data. Higher closed-loop bandwidths appear to be more readily achievable with rotor state feedback. The results also indicate that both aircraft and rotor flapping responses to gust disturbance are significantly attenuated when rotor state feedback is used.

Chen, Robert T. N.↗

NASA NTRS1994

Design and evaluation of a Stochastic Optimal Feed-forward and Feedback Technology (SOFFT) flight control architecture

This paper describes the design and evaluation of a stochastic optimal feed-forward and feedback technology (SOFFT) control architecture with emphasis on the feed-forward controller design. The SOFFT approach allows the designer to independently design the feed-forward and feedback controllers to meet separate objectives and then integrate the two controllers. The feed-forward controller has been integrated with an existing high-angle-of-attack (high-alpha) feedback controller. The feed-forward controller includes a variable command model with parameters selected to satisfy level 1 flying qualities with a high-alpha adjustment to achieve desired agility guidelines, a nonlinear interpolation approach that scales entire matrices for approximation of the plant model, and equations for calculating feed-forward gains developed for perfect plant-model tracking. The SOFFT design was applied to a nonlinear batch simulation model of an F/A-18 aircraft modified for thrust vectoring. Simulation results show that agility guidelines are met and that the SOFFT controller filters undesired pilot-induced frequencies more effectively during a tracking task than a flight controller that has the same feedback control law but does not have the SOFFT feed-forward control.

Ostroff, Aaron J.↗

NASA NTRS1993

On wave-CISK and the evaporation-wind feedback for the Madden-Julian oscillation

The combined effects of Kelvin wave-CISK and the evaporation-wind (E-W) feedback are proposed as a possible mechanism for the Madden-Julian oscillation. A very simple single vertical mode model has been employed to examine the effects of both these processes on moist Kelvin waves. The effects of wave-induced moisture convergence is parameterized by reducing the moist static stability, and CISK occurs when the moist static stability becomes negative. The E-W feedback in the presence of mean easterlies leads to unstable Kelvin modes. The presence of mean westerlies leads to decaying Kelvin modes. When CISK and the E-W feedback work in concert, an unstable Kelvin mode develops that has phase speeds of propagation between 5 m/s and 10 m/s for a large range of parameter values. On the other hand, the E-W feedback mechanism alone, in the case when CISK is not operating, produces the phase speeds of the observed Madden-Julian oscillation for only a very limited range of parameter values.

Kirtman, B.↗

NASA NTRS1992

An exploratory investigation of the flight dynamics effects of rotor rpm variations and rotor state feedback in hover

Chen, Robert T. N.↗

NASA NTRS1994

Rotor-state feedback in the design of flight control laws for a hovering helicopter

The use of rigid-body and rotor-state feedback gains in the design of helicopter flight control laws was investigated analytically on a blade element, articulated rotor, helicopter model. The study was conducted while designing a control law to meet an existing military rotorcraft handling qualities design specification (ADS-33C) in low-speed flight. A systematic approach to meet this specification was developed along with an assessment of the function of these gains in the feedback loops. Using the results of this assessment, the pitch and roll crossover behavior was easily modified by adjusting the body attitude and rotor-flap feedback gains. Critical to understanding the feedback gains is that the roll and pitch rate dynamics each have second-order behavior, not the classic first-order behavior, which arises from a quasi-static rotor, six degree-of-freedom model.

Takahashi, Marc D.↗

NASA NTRS1995

Rotorcraft flight control design using quantitative feedback theory and dynamic crossfeeds

A multi-input, multi-output controls design with robust crossfeeds is presented for a rotorcraft in near-hovering flight using quantitative feedback theory (QFT). Decoupling criteria are developed for dynamic crossfeed design and implementation. Frequency dependent performance metrics focusing on piloted flight are developed and tested on 23 flight configurations. The metrics show that the resulting design is superior to alternative control system designs using conventional fixed-gain crossfeeds and to feedback-only designs which rely on high gains to suppress undesired off-axis responses. The use of dynamic, robust crossfeeds prior to the QFT design reduces the magnitude of required feedback gain and results in performance that meets current handling qualities specifications relative to the decoupling of off-axis responses. The combined effect of the QFT feedback design following the implementation of low-order, dynamic crossfeed compensator successfully decouples ten of twelve off-axis channels. For the other two channels it was not possible to find a single, low-order crossfeed that was effective.

Cheng, Rendy P.↗

NASA NTRS1996

Indirect Identification of Linear Stochastic Systems with Known Feedback Dynamics

An algorithm is presented for identifying a state-space model of linear stochastic systems operating under known feedback controller. In this algorithm, only the reference input and output of closed-loop data are required. No feedback signal needs to be recorded. The overall closed-loop system dynamics is first identified. Then a recursive formulation is derived to compute the open-loop plant dynamics from the identified closed-loop system dynamics and known feedback controller dynamics. The controller can be a dynamic or constant-gain full-state feedback controller. Numerical simulations and test data of a highly unstable large-gap magnetic suspension system are presented to demonstrate the feasibility of this indirect identification method.

Huang, Jen-Kuang↗

NASA NTRS1998

Predictive Feedback and Feedforward Control for Systems with Unknown Disturbances

Predictive feedback control has been successfully used in the regulation of plate vibrations when no reference signal is available for feedforward control. However, if a reference signal is available it may be used to enhance regulation by incorporating a feedforward path in the feedback controller. Such a controller is known as a hybrid controller. This paper presents the theory and implementation of the hybrid controller for general linear systems, in particular for structural vibration induced by acoustic noise. The generalized predictive control is extended to include a feedforward path in the multi-input multi-output case and implemented on a single-input single-output test plant to achieve plate vibration regulation. There are cases in acoustic-induce vibration where the disturbance signal is not available to be used by the hybrid controller, but a disturbance model is available. In this case the disturbance model may be used in the feedback controller to enhance performance. In practice, however, neither the disturbance signal nor the disturbance model is available. This paper presents the theory of identifying and incorporating the noise model into the feedback controller. Implementations are performed on a test plant and regulation improvements over the case where no noise model is used are demonstrated.

Juang, Jer-Nan↗

NASA NTRS1985

Ambulatory Feedback System

This presentation discusses instrumentation that will be used for a specific event, which we hope will carry on to future events within the Space Shuttle program. The experiment is the Autogenic Feedback Training Experiment (AFTE) scheduled for Spacelab 3, currently scheduled to be launched in November, 1984. The objectives of the AFTE are to determine the effectiveness of autogenic feedback in preventing or reducing space adaptation syndrome (SAS), to monitor and record in-flight data from the crew, to determine if prediction criteria for SAS can be established, and, finally, to develop an ambulatory instrument package to mount the crew throughout the mission. The purpose of the Ambulatory Feedback System (AFS) is to record the responses of the subject during a provocative event in space and provide a real-time feedback display to reinforce the training.

Finger, Herbert↗