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Results for “Robust control”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 379 records · Page 21
All sourcesNASA NTRSDOE OSTI
NASA NTRS1986

Robustness properties of collocated controllers for flexible spacecraft

Robustness properties are investigated for two types of controllers for large flexible space structures, which use collocated sensors and actuators. The first type is an attitude controller which uses negative definite feedback of measured attitude and rate, while the second type is a damping enhancement controller which uses only velocity (rate) feedback. It is proved that collocated attitude controllers preserve closed loop global asymptotic stability when linear actuator/sensor dynamics satisfying certain phase conditions are present, or monotonic increasing nonlinearities are present. For velocity feedback controllers, the global asymptotic stability is proved under much weaker conditions. In particular, they have 90 phase margin and can tolerate nonlinearities belonging to the (0, infinity) sector in the actuator/sensor characteristics. The results significantly enhance the viability of both types of collocated controllers, especially when the available information about the large space structure (LSS) parameters is inadequate or inaccurate.

Joshi, S. M.↗
NASA NTRS1991

Robustness in the presence of mixed parametric uncertainty and unmodeled dynamics

Continuing the development of the structured singular value approach to robust control design, the authors investigate the problem of computing the structured singular value (mu) in the case of mixed real parametric and complex uncertainty. The problem is shown to be equivalent to a smooth constrained finite-dimensional optimization problem. In view of the fact that the functional to be maximized may have several local extrema, an upper bound on mu whose computation is numerically tractable is established; this leads to a sufficient condition of robust stability and performance. A historical perspective on the development of the mu theory is included.

Fan, Michael K. H.↗
NASA NTRS2005

Standardized Action Modules for Humanoid Robot Control

Humanoid robots could reduce the risks of hazardous work by replacing humans in dangerous environments and they could be useful helpers in environments designed primarily for humans. Currently, no robot is capable enough to fulfill either of these roles for any practical application, and the Humanoid Project at the Jet Propulsion Laboratory's Bio-Inspired Technologies and Systems group is striving to change that. For this summer, our goal was to endow a Fujitsu HOAP 2 humanoid robot with the necessary intelligence and knowledge to autonomously assemble a cubical frame structure from tubular bars and corner joints. Performing such a complicated task requires that the robot have a robust control architecture that allows for a multitude of abilities and Operation modes. We have designed and implemented a modular control architecture that allows reusability of existing code and the integration of work by many team members into the larger control system while providing an easy way to implement later improvements. Such a control system has allowed us to achieve important milestones in the humanoid robot assembly task.

Csaszar, Ambrus↗
NASA NTRS1997

Sliding Mode Control of a Slewing Flexible Beam

An output feedback sliding mode controller (SMC) is proposed to minimize the effects of vibrations of slewing flexible manipulators. A spline trajectory is used to generate ideal position and velocity commands. Constrained nonlinear optimization techniques are used to both calibrate nonlinear models and determine optimized gains to produce a rest-to-rest, residual vibration-free maneuver. Vibration-free maneuvers are important for current and future NASA space missions. This study required the development of the nonlinear dynamic system equations of motion; robust control law design; numerical implementation; system identification; and verification using the Sandia National Laboratories flexible robot testbed. Results are shown for a slewing flexible beam.

Wilson, David G.↗
NASA NTRSDate not supplied

Interval Predictor Models for Robust System Identification

This paper proposes a framework for the identification and uncertainty quantification of plant models according to multivariable data. The only restriction imposed upon such models is for their outputs to depend continuously on their parameters. An Interval Predictor Model (IPM) prescribes the parameters of a computational model as a path-connected set thereby making each predicted output an interval-valued function of its inputs. The formulation proposed seeks the parameter set for which the predicted outputs tightly enclose the data. This set, which is modeled as a semi-algebraic set of low-degree polynomials, enables the characterization of possibly strong parameter dependencies commonly found in practice. This uncertainty characterization makes the resulting plant model amenable to robust control approaches using polynomial optimization. Furthermore, we use non-convex scenario theory to assess the reliability of the resulting IPM. This assessment yields a distribution-free upper bound on the probability that future data will fall outside the predicted intervals.

interval↗
NASA NTRS2015

Zero Boil-Off System Testing

Cryogenic propellants such as liquid hydrogen (LH2) and liquid oxygen (LO2) are a part of NASA's future space exploration plans due to their high specific impulse for rocket motors of upper stages. However, the low storage temperatures of LH2 and LO2 cause substantial boil-off losses for long duration missions. These losses can be eliminated by incorporating high performance cryocooler technology to intercept heat load to the propellant tanks and modulating the cryocooler temperature to control tank pressure. The technology being developed by NASA is the reverse turbo-Brayton cycle cryocooler and its integration to the propellant tank through a distributed cooling tubing network coupled to the tank wall. This configuration was recently tested at NASA Glenn Research Center in a vacuum chamber and cryoshroud that simulated the essential thermal aspects of low Earth orbit, its vacuum and temperature. This test series established that the active cooling system integrated with the propellant tank eliminated boil-off and robustly controlled tank pressure.

Reverse turbo-Brayton cycle↗
NASA NTRS2007

F-15B Quiet Spike(TradeMark) Aeroservoelastic Flight-Test Data Analysis

System identification is utilized in the aerospace community for development of simulation models for robust control law design. These models are often described as linear, time-invariant processes and assumed to be uniform throughout the flight envelope. Nevertheless, it is well known that the underlying process is inherently nonlinear. Over the past several decades the controls and biomedical communities have made great advances in developing tools for the identification of nonlin ear systems. In this report, we show the application of one such nonlinear system identification technique, structure detection, for the an alysis of Quiet Spike(TradeMark)(Gulfstream Aerospace Corporation, Savannah, Georgia) aeroservoelastic flight-test data. Structure detectio n is concerned with the selection of a subset of candidate terms that best describe the observed output. Structure computation as a tool fo r black-box modeling may be of critical importance for the development of robust, parsimonious models for the flight-test community. The ob jectives of this study are to demonstrate via analysis of Quiet Spike(TradeMark) aeroservoelastic flight-test data for several flight conditions that: linear models are inefficient for modelling aeroservoelast ic data, nonlinear identification provides a parsimonious model description whilst providing a high percent fit for cross-validated data an d the model structure and parameters vary as the flight condition is altered.

Kukreja, Sunil L.↗
NASA NTRS1992

A six-degree-of-freedom guidance and control analysis of Mars aerocapture

A six-degree-of-freedom (6DOF) simulation is developed to investigate the control and guidance issues of a Mars aerobraking vehicle. The guidance algorithm used is a predictor-corrector guidance formulation designed to control the exit orbital apoapsis and wedge angle using bank-angle modulation. Major features of this predictor-corrector guidance algorithm include: (1) integration of the 3DOF equations of motion within an inner-loop simulation; (2) load-relief logic; (3) finite roll rates; and (4) an aerodynamic feedback multiplier. The algorithm is capable of successfully guiding the vehicle through combinations of atmospheric density dispersions, aerodynamic mispredictions, and off-nominal atmospheric interface conditions. This study demonstrated that the addition of vehicle dynamics to the Mars aerobraking simulation does not significantly impact mission feasibility. That is, a robust control system design coupled with an adaptive guidance algorithm can assure mission success in the presence of numerous off-nominal conditions.

Powell, Richard W.↗
NASA NTRS2015

Zero Boil-Off System Testing

Cryogenic propellants such as liquid hydrogen (LH2) and liquid oxygen (LO2) are a part of NASA's future space exploration due to their high specific impulse for rocket motors of upper stages suitable for transporting 10s to 100s of metric tons of payload mass to destinations outside of low earth orbit and for their return. However, the low storage temperatures of LH2 and LO2 cause substantial boil-off losses for missions with durations greater than several months. These losses can be eliminated by incorporating high performance cryocooler technology to intercept heat load to the propellant tanks and modulating the cryocooler to control tank pressure. The active thermal control technology being developed by NASA is the reverse turbo-Brayton cycle cryocooler and its integration to the propellant tank through a distributed cooling tubing network coupled to the tank wall. This configuration was recently tested at NASA Glenn Research Center, in a vacuum chamber and cryoshroud that simulated the essential thermal aspects of low Earth orbit, its vacuum and temperature. Testing consisted of three passive tests with the active cryocooler system off, and 7 active tests, with the cryocooler powered up. The test matrix included zero boil-off tests performed at 90 full and 25 full, and several demonstrations at excess cooling capacity and reduced cooling capacity. From this, the tank pressure response with varied cryocooler power inputs was determined. This test series established that the active cooling system integrated with the propellant tank eliminated boil-off and robustly controlled tank pressure.

Plachta, David W.↗
NASA NTRS2017

Liquid Nitrogen Zero Boiloff Testing

Cryogenic propellants such as liquid hydrogen (LH2) and liquid oxygen (LO2) are a part of NASAs future space exploration due to their high specific impulse for rocket motors of upper stages suitable for transporting 10s to 100s of metric tons of payload mass to destinations outside of low earth orbit and for their return. However, the low storage temperatures of LH2 and LO2 cause substantial boil-off losses for missions with durations greater than several months. These losses can be eliminated by incorporating high performance cryocooler technology to intercept heat load to the propellant tanks and modulating the cryocooler to control tank pressure. The active thermal control technology being developed by NASA is the reverse turbo-Brayton cycle cryocooler and its integration to the propellant tank through a distributed cooling tubing network coupled to the tank wall. This configuration was recently tested at NASA Glenn Research Center, in a vacuum chamber and cryo-shroud that simulated the essential thermal aspects of low Earth orbit, its vacuum and temperature. Testing consisted of three passive tests with the active cryo-cooler system off, and 7 active tests, with the cryocooler powered up. The test matrix included zero boil-off tests performed at 90 full and 25 full, and several demonstrations at excess cooling capacity and reduced cooling capacity. From this, the tank pressure response with varied cryocooler power inputs was determined. This test series established that the active cooling system integrated with the propellant tank eliminated boil-off and robustly controlled tank pressure.

Cryogenic fluid management↗
DOE OSTI2024

Concrete Thermal Energy Storage Enabling Flexible Operation without Coal Plant Cycling

The work described in this report is responsive to the Office of Fossil Energy program “Energy Storage for Fossil Power Generation.” The pilot plant built as a result of this project demonstrated the feasibility and performance of a concrete thermal energy storage (CTES) system integrated with a supercritical coal power plant. The 10 MWh electrical (>25 MWh thermal) CTES unit, developed by Storworks Power, was designed to enable flexible operation of coal plants without cycling damage. The project's key technical achievements showcase a significant advancement in energy storage technology. A modular CTES system using 42 “Bolderblocs” units was successfully designed and constructed at Alabama Power’s Plant Gaston Unit 5, with each block containing embedded stainless-steel coils in specialized, cost-effective high-temperature concrete. The system interfaced seamlessly with the plant's 3500 psig (241 barg), 1000°F (538°C) supercritical steam, demonstrating operational flexibility. Over 86 full cycles, the CTES exhibited rapid charging and discharging capabilities, effectively mimicking steam turbine feed conditions and handling varying load profiles and storage durations. Performance validation confirmed the system's ability to consistently meet design target steam conditions of 75 bar-a and ~400°C for nominal baseline discharge. The concrete material withstood repeated thermal cycling without degradation, validating earlier lab-scale tests. Integration of balance of plant components, including a condensate management system with storage tank and air-cooled condenser, minimized plant interfaces and water consumption. A robust control scheme ensured safe, automated operation across various scenarios. Key learnings from the project were invaluable: 1. Initial concrete drying and commissioning procedures were refined for future deployments, enhancing efficiency in subsequent installations. 2. System flexibility exceeded expectations, with rapid response to changing conditions. 3. Design improvements were identified including optimized insulation and piping that will enhance overall system efficiency in future deployments 4. Full cycle thermal roundtrip efficiencies exceeded 88%. While the roundtrip electrical efficiency was somewhat limited by known challenges using input steam, such constraints may be mitigated by swapping steam for hot air as thermal input. 5. A summary of key performance parameters for the pilot test and predicted performance of a full scale commercial system with specified improvements determined from the pilot are shown in Section 8. The project faced challenges, including COVID-19 delays and host plant availability constraints. However, these were overcome through adaptive planning and execution. The successful management of these obstacles demonstrated the resilience and adaptability of the project team and the robustness of the CTES technology. This successful pilot demonstrates the potential for CTES to enhance coal plant flexibility, supporting grid stability as renewable penetration increases. The validated design and operational data provide a solid foundation for scaling up to utility-scale implementations, potentially transforming how thermal plants operate in evolving energy landscapes. The system's ability to rapidly respond to changing grid conditions while maintaining high efficiency makes it a promising solution for balancing intermittent renewable energy sources. Furthermore, the project highlighted the potential for even greater efficiencies in future iterations. The use of air as an input medium could potentially eliminate the limitations observed with steam input, opening new possibilities for energy storage applications beyond coal plant integration. In conclusion, this pilot project not only achieved its primary goals but also uncovered additional benefits and potential applications of the CTES technology. It represents a significant step forward in addressing the challenges of grid stability and flexibility in an increasingly renewable-driven energy landscape.

01 COAL, LIGNITE, AND PEAT↗
NASA NTRS1990

Experimental study of robustness in adaptive control for large flexible structures

An experimental study is performed to investigate the robustness of model reference adaptive control for the large flexible structures control application. The main nonidealities of concern are unmodeled dynamics, input saturation, and time delay effects (here, actuator and sensor dynamics are lumped into the last item for convenience). This study focuses on the robustness with respect to input saturation and time delay effects, since robustness to unmodeled dynamics is inherent to the basic algorithm and has been demonstrated experimentally elsewhere.

Ih, Che-Hang Charles↗
DOE OSTI2025

Explainable discrepancy checker and diagnosis for digital Twin-based supervisory control system

By virtually representing a physical object and process, a digital twin (DT) enables optimal autonomous operations by combining classical and novel frameworks in sensors, state predictions, and multi-input/multi-output systems. A DT’s values depend on how well models estimate quantities of interest and on how uncertainty is handled. Moreover, DTs often combine physics-based and data-driven models with mixed fidelities, where classical uncertainty quantification (UQ) struggles with many sources of uncertainty and real-time constraints. Here, this work presents a UQ-based discrepancy checking and diagnosis tool for a DT-based supervisory control system. The tool is developed using metadata from an automated DT development process to learn correlations between sources of uncertainties and outcomes. During operation, it compares predictions with measurements, attributes discrepancies to dominant sources, and recommends parameter and configuration updates. We verify the workflow on a synthetic temperature-control problem and deploy it on a virtual Thermal Energy Delivery System, reducing mismatch and improving control robustness.

22 - GENERAL STUDIES OF NUCLEAR REACTORS↗
DOE OSTI2025

Evaluation of HVAC & refrigeration system fault behaviors and impacts: A systematic review

Achieving the goals of green buildings critically depends on the fault-free operation of heating, ventilation and air conditioning and refrigeration (HVAC&R) systems. However, faults frequently occur in these systems, causing a range of negative consequences, including increased energy consumption, diminished operational performance, compromised indoor environmental quality, higher operational costs, and shortened system lifespan. The evaluation of fault behaviors and impacts plays a critical role in revealing fault characteristics and consequently supports many research areas, including the design of the high-performance equipment, development of fault detection and diagnostics (FDD) and robust control approaches, as well as the enhancement of maintenance decision-making activities. This paper systematically reviews 112 research publications that reported the analysis and evaluation of fault behaviors and impacts in HVAC&R systems over the past thirty years. Here, we designed a review approach to address five crucial research questions, namely: 1) the objectives of analysis and evaluation of fault behaviors and impacts, 2) data sources, 3) equipment/system types and fault types, 4) evaluation methods including evaluation measures and associated metrics, and 5) challenges and future directions in the research on evaluating of fault behaviors and impacts. In-depth discussions on these questions help bridge the gap between the evaluation of fault behaviors and impacts and their practical applications, such as the development of high-performance systems, fault models, FDD methods, and maintenance decision-making tools within the HVAC&R FDD domain.

Chen, Yimin [Oak Ridge National Laboratory (ORNL),↗
DOE OSTI2022

Star formation and AGN feedback in the local Universe: Combining LOFAR and MaNGA

The effect of active galactic nuclei (AGN) on their host galaxies – in particular their levels of star formation – remains one of the key outstanding questions of galaxy evolution. Successful cosmological models of galaxy evolution require a fraction of energy released by an AGN to be redistributed into the interstellar medium to reproduce the observed stellar mass and luminosity function and to prevent the formation of over-massive galaxies. Observations have confirmed that the radio-AGN population is energetically capable of heating and redistributing gas at all phases, however, direct evidence of AGN enhancing or quenching star formation remains rare. With modern, deep radio surveys and large integral field spectroscopy (IFS) surveys, we can detect fainter synchrotron emission from AGN jets and accurately probe the star-forming properties of galaxies, respectively. Here, in this paper, we combine data from the LOw Frequency ARray Two-meter Sky Survey (LoTSS) with data from one of the largest optical IFS surveys, Mapping Nearby Galaxies at Apache Point Observatory (MaNGA), to probe the star-forming properties of 307 local (z < 0.15) galaxies that host radio-detected AGN (RDAGN). We compare our results to a robust control sample of non-active galaxies that each match the stellar mass, redshift, visual morphology, and inclination of a RDAGN host. We find that RDAGN and control galaxies have broad star-formation rate (SFR) distributions, typically lie below the SFMS, and have negative stellar light-weighted age gradients. These results indicate that AGN selected based on their current activity are not responsible for suppressing their host galaxies’ star formation. Rather, our results support the maintenance mode role that radio AGN are expected to have in the local Universe.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2026

Real-time avoidance of the L-mode and H-mode density limit via machine-learned stability metrics

Reliable operation of burning plasma tokamaks will require robust control strategies to avoid macroscopic instability limits such as the L-mode and H-mode density limits (LDL, HDL). In this work, we explore closed-loop avoidance of these phenomena at DIII-D using machine-learned risk metrics. Feedback control is implemented via the ‘DL Supervisor’ scheme, which regulates the chosen risk metric by reducing the density target or increasing NBI heating in real-time. Using the LDL 25 risk metric, the LDL is reproducibly suppressed. We also introduce an HDL risk metric in this study, HDL 25 , which reduces the False Positive Rate by 2x compared to the Greenwald fraction. Applying this scaling to a plasma current ramp-down, we successfully avoid an HDL-driven H/L back-transition. These experiments constitute the first demonstration of real-time DL avoidance using machine-learned risk metrics. These instability metrics outline a path to safer high-density operation, more reliable ramp-down scenarios, and improved off-normal control for next-step devices such as ITER and SPARC.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
DOE OSTI2022

Galaxy pairs in the Sloan Digital Sky Survey – XV. Properties of ionized outflows

ABSTRACT Powerful outflows are thought to play a critical role in galaxy evolution and black hole growth. We present the first large-scale systematic study of ionized outflows in paired galaxies and post-mergers compared to a robust control sample of isolated galaxies. We isolate the impact of the merger environment to determine if outflow properties depend on merger stage. Our sample contains ∼4000 paired galaxies and ∼250 post-mergers in the local universe (0.02 ≤ z ≤ 0.2) from the Sloan Digital Sky Survey Data Release 7 (SDSS DR 7) matched in stellar mass, redshift, local density of galaxies, and [O iii] λ5007 luminosity to a control sample of isolated galaxies. By fitting the [O iii] λ5007 line, we find ionized outflows in ∼15 per cent of our entire sample. Outflows are much rarer in star-forming galaxies compared to active galactic nuclei (AGNs), and outflow incidence and velocity increase with [O iii] λ5007 luminosity. Outflow incidence is significantly elevated in the optical + mid-infrared selected AGN compared to purely optical AGN; over 60 per cent show outflows at the highest luminosities ($L_{\mathrm{[OIII]~\lambda 5007}}\, \gtrsim$ 1042 erg s−1), suggesting mid-infrared AGN selection favours galaxies with powerful outflows, at least for higher [O iii] λ5007 luminosities. However, we find no statistically significant difference in outflow incidence, velocity, and luminosity in mergers compared to isolated galaxies, and there is no dependence on merger stage. Therefore, while interactions are predicted to drive gas inflows and subsequently trigger nuclear star formation and accretion activity, when the power source of the outflow is controlled for, the merging environment has no further impact on the large-scale ionized outflows as traced by [O iii] λ5007.

79 ASTRONOMY AND ASTROPHYSICS↗