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Use is made of linearized error characteristic equation for model-reference adaptive systems to determine a parameter adjustment rule for obtaining time-invariant error dynamics. Theoretical justification of error stability is given and an illustrative example included to demonstrate the utility of the proposed technique.
A class of dynamical systems in a conflict situation is formulated and discussed, and the formulation is applied to the study of an important class of systems in the presence of uncertainty. The uncertainty is deterministic and the only assumption is that its value belongs to a known compact set. Asymptotic stability is fully discussed with application to variable structure and model reference control systems.
Model reference adaptive controllers for multivariable plants are designed using only input and output signals rather than the complete state vector. The design is based on Liapunov's direct method, and the Meyer-Kalman-Yacubovich lemma. State variable filters are employed to avoid differentiating output signals. Augmented error signals are used in deriving stable adaptive control laws which assure that the normally used response error signals approach zero asymptotically.
A new nonlinear stability criterion is developed by use of a class of Lyapunov functionals for model-reference adaptive systems (MRAS). Results are compared with traditional results, and a comparative design technique is used to illustrate its function in improving the transient response of an MRAS controller. For a particular system structure and class of input signals, the new stability criterion is shown to include traditional sufficiency stability conditions as a special case. An example is cited to illustrate the use of the nonlinear criterion and its definite advantages in helping improve the adaptive error transient response of a system. Analysis of results is effected by use of a linearization technique on the resulting adaptive equations.
The 1977 altimetry data bank is analyzed for the geometrical shape of the sea surface expressed as surface spherical harmonics after referral to the higher reference model defined by GEM 9. The resulting determination is expressed as quasi-stationary dynamic SST. Solutions are obtained from different sets of long arcs in the GEOS-3 altimeter data bank as well as from sub-sets related to the September 1975 and March 1976 equinoxes assembled with a view to minimizing seasonal effects. The results are compared with equivalent parameters obtained from the hydrostatic analysis of sporadic temperature, pressure and salinity measurements of the oceans and the known major steady state current systems with comparable wavelengths. The most clearly defined parameter (the zonal harmonic of degree 2) is obtained with an uncertainty of + or - 6 cm. The preferred numerical value is smaller than the oceanographic value due to the effect of the correction for the permanent earth tide. Similar precision is achieved for the zonal harmonic of degree 3. The precision obtained for the fourth degree zonal harmonic reflects more closely the accuracy expected from the level of noise in the orbital solutions.
Honeywell has designed a digital self-adaptive flight control system for flight test in the VALT Research Aircraft (a modified CH-47). The final design resulted from a comparison of two different adaptive concepts: one based on explicit parameter estimates from a real-time maximum likelihood estimation algorithm and the other based on an implicit model reference adaptive system. The two designs are compared on the basis of performance and complexity.
Tests were conducted in the Ames 6 by 6 foot wind tunnel to determine the interaction of reaction jets for roll control on the M2-F2 lifting-body entry vehicle. Moment interactions are presented for a Mach number range of 0.6 to 1.7, a Reynolds number range of 1.2 x 10 to the 6th power to 1.6 x 10 to the 6th power (based on model reference length), an angle-of-attack range of -9 deg to 20 deg, and an angle-of-sideslip range of -6 deg to 6 deg at an angle of attack of 6 deg. The reaction jets produce roll control with small adverse yawing moment, which can be offset by horizontal thrust component of canted jets.
A digital self-adaptive flight control system was developed for flight test in the VTOL approach and landing technology (VALT) research aircraft (a modified CH-47 helicopter). The control laws accept commands from an automatic on-board guidance system. The primary objective of the control laws is to provide good command-following with a minimum cross-axis response. Three attitudes and vertical velocity are separately commanded. Adaptation of the control laws is based on information from rate and attitude gyros and a vertical velocity measurement. The final design resulted from a comparison of two different adaptive concepts--one based on explicit parameter estimates from a real-time maximum-likelihood estimation algorithm, the other based on an implicit model reference adaptive system. The two designs were compared on the basis of performance and complexity.
The VTOL approach and landing test (VALT) adaptive software is documented. Two self-adaptive algorithms, one based on an implicit model reference design and the other on an explicit parameter estimation technique were evaluated. The organization of the software, user options, and a nominal set of input data are presented along with a flow chart and program listing of each algorithm.
The paper deals with robotic manipulator control systems with dynamic characteristics. It is shown that using model reference adaptive control techniques makes it possible to develop control algorithms which will maintain uniformly high performance over a wide range of system motions and payloads.
The results of costs/benefits analyses of three chemical propulsion systems that are candidates for transferring high density, low volume STS payloads from LEO to GEO are reported. Separate algorithms were developed for benefits and costs of primary propulsion systems (PPS) as functions of the required thrust levels. The life cycle costs of each system were computed based on the developmental, production, and deployment costs. A weighted criteria rating approach was taken for the benefits, with each benefit assigned a value commensurate to its relative worth to the overall system. Support costs were included in the costs modeling. Reference missions from NASA, commercial, and DoD catalog payloads were examined. The program was concluded reliable and flexible for evaluating benefits and costs of launch and orbit transfer for any catalog mission, with the most beneficial PPS being a dedicated low thrust configuration using the RL-10 system.
An advanced leading-edge concept was analyzed using the space shuttle leading edge system as a reference model. The comparison indicates that a direct-bond system utilizing a high temperature (2700 F) fibrous refractory composite insulation tile bonded to a high temperature (PI/graphite) composite structure can result in a weight savings of up to 800 lb. The concern that tile damage or loss during ascent would result in adverse entry aerodynamics if a leading edge tile system were used is addressed. It was found from experiment that missing tiles (as many as 22) on the leading edge would not significantly affect the basic force-and-moment aerodynamic coefficients. Additionally, this concept affords a degree of redundancy to a thermal protection system in that the base structure (being a composite material) ablates and neither melts nor burns through when subjected to entry heating in the event tiles are actually lost or damaged during ascent.
Direct multivariable model reference adaptive control (DMMRAC) applications are considered with a representative example of a large structural system (LSS). Such applications have in the past been shown to be feasible for multivariable systems, provided that there exists a constant feedback gain matrix such that the resulting input-output transfer function is (simply) positive real.
A simple, top level logical reference model of the NASA Space Transportation System's end-to-end data system is being developed which can identify the functions and services of the system. Each function or service may be mapped into specific physical subsystems, so that interface relationships are evident and 'standard' protocols may be identified for development. By means of this interface standardization, subsystems can be designed not only independently and in parallel, but with confidence that when the subsystems are aggregated, the end-to-end system will operate efficiently and at low cost. This standardization effort has thus far been principally directed toward space-to-ground communications links.
Recently Zames (1981) has introduced the so-called model reference transformation which can be used to conveniently parameterize the class of linear time-invariant multivariable compensators that lead to stable feedback control systems. A very popular design methodology for designing stable and robust multivariable control systems is that based on the Linear-Quadratic-Gaussian (LQG) methodology with Loop Transfer Recovery (LTR). Thus, it is natural to inquire upon the relationship between the Zames representation and the LQG/LTR compensators. This paper summarizes this relationship.
It has been shown that several similar Model Reference Adaptive Controllers (MRAC's) are globally stable under certain restrictive assumptions, including the assumption that the order and relative degree of the plant are exactly known, and that no disturbances are present. Under certain 'sufficiently rich' excitation conditions, the origin is globally asymptotically stable for the adaptive controller parameter error. The time-evolution of the parameter error vector represents the key factor to the stability of the adaptive controller. This time-evolution is described by a complicated set of time-varying nonlinear differential equations. The present investigation is concerned with an approximate analysis technique for studying the long term trends of the parameter error vector trajectory for an adaptive controller under periodic excitation.
Two optical disk 'jukebox' mass storage systems which provide access to any data in a store of 10 to the 13th bits (1250G bytes) within six seconds have been developed. The optical disk jukebox system is divided into two units, including a hardware/software controller and a disk drive. The controller provides flexibility and adaptability, through a ROM-based microcode-driven data processor and a ROM-based software-driven control processor. The cartridge storage module contains 125 optical disks housed in protective cartridges. Attention is given to a conceptual view of the disk drive unit, the NASA optical disk system, the NASA database management system configuration, the NASA optical disk system interface, and an open systems interconnect reference model.
In this paper, a comparison is conducted of several feedback configurations which have appeared in the literature (e.g. unity-feedback, model-reference, etc.). The linear time-invariant multi-input multi-output case is considered. For each configuration, the stability conditions are specified, the relation between achievable I/O maps and the achievable disturbance-to-output maps is examined, and the effect of various subsystem perturbations on the system performance is studied. In terms of these considerations, it is demonstrated that one of the configurations considered is better than all the others. The results are then extended to the nonlinear multi-input multi-output case.