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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 55 records · Page 3
All sourcesNASA NTRSDOE OSTI
NASA NTRS1993

Robust stability of second-order systems

A feedback linearization technique is used in conjunction with passivity concepts to design robust controllers for space robots. It is assumed that bounded modeling uncertainties exist in the inertia matrix and the vector representing the coriolis, centripetal, and friction forces. Under these assumptions, the controller guarantees asymptotic tracking of the joint variables. A Lagrangian approach is used to develop a dynamic model for space robots. Closed-loop simulation results are illustrated for a simple case of a single link planar manipulator with freely floating base.

Chuang, C.-H.↗
NASA NTRS1988

Optimal rejection of persistent disturbances, robust stability, and mixed sensitivity minimization

The problem of optimal disturbance rejection of bounded persistent disturbances is solved in the general nonsquare case. The minimum value of the objective function can be obtained by solving a semiinfinite linear programming problem, and an iterative procedure for obtaining approximate solutions is introduced. Application of the l1-optimal problem to robustness is discussed. A mixed sensitivity problem is formulated and shown to guarantee good disturbance rejection in the presence of plant perturbations.

Dahleh, Munther A.↗
NASA NTRS1994

Robust stability of second-order systems

Nonlinear control using feedback linearization or inverse dynamics for robotic manipulators yields good results in the absence of modeling uncertainty. However, modeling uncertainties due to unknown joint friction coefficients and payload variations can give rise to undesirable characteristics when these control systems are implemented. It is shown how passivity concepts can be used to supplement the feedback linearization control design technique, in order to make it robust with respect to the uncertain effects mentioned above. Results are obtained for space manipulators with freely floating base; however, they are applicable to fixed base manipulators as well. The controller guarantees asymptotic tracking of the joint variables. Closed-loop simulation results are illustrated for planar space manipulators for cases where uncertainty exists in friction modeling and payload inertial parameters.

Chuang, C.-H.↗
DOE OSTI2022

Strain-induced antipolar phase in hafnia stabilizes robust thin-film ferroelectricity

Hafnia (HfO 2 ) is a promising candidate for next-generation ferroelectric devices due to its robust ferroelectricity at reduced dimensions and its compatibility with silicon technology. Unfortunately, the origin of robust ferroelectricity and the underlying phase transition mechanism in HfO 2 remain elusive. Here, we show that its ferroelectricity arises from two phase transitions, where the primary phase transition to antipolar phase is activated by tensile strain. Above a threshold antipolar mode amplitude, a strong cooperative polar-antipolar coupling enables a second ferroelectric phase transition superimposed on the antipolar phase. Because the antipolar mode is not susceptible to depolarization, this polar-antipolar coupling stabilizes the polarization against depolarization effects. Our results demonstrate that tensile strain and polar-antipolar coupling are the origins of ferroelectricity in HfO 2 and provide a previously unknown mechanism against depolarization other than conventional improper ferroelectricity.

36 MATERIALS SCIENCE↗
NASA NTRS1988

Modeling, model simplification and stability robustness with aeroelastic vehicles

The linearization and simplification of a nonlinear, literal model for flexible aircraft is highlighted. Areas of model fidelity that are critical if the model is to be used for control system synthesis are developed, and several simplification techniques that can deliver the necessary model fidelity are discussed. These techniques include both numerical and analytical approaches. An analytical approach, based on first-order sensitivity theory is shown to lead not only to excellent numerical results, but also to closed-form analytical expressions for key system dynamic properties such as the pole/zero factors of the vehicle transfer-function matrix. The analytical results are expressed in terms of vehicle mass properties, vibrational characteristics, and rigid-body and aeroelastic stability derivatives, thus leading to the underlying causes for critical dynamic characteristics.

Schmidt, David K.↗
NASA NTRS1979

Robust stability of linear systems: Some computational considerations

The cases of both additive and multiplicative perturbations were discussed and a number of relationships between the two cases were given. A number of computational aspects of the theory were also discussed, including a proposed new method for evaluating general transfer or frequency response matrices. The new method is numerically stable and efficient, requiring only operations to update for new values of the frequency parameter.

Laub, A. J.↗
NASA NTRS1985

Robust stability under additive perturbations

A MIMO linear time-invariant feedback system 1S(P,C) is considered which is assumed to be U-stable. The plant P is subjected to an additive perturbation Delta P which is proper but not necessarily stable. It is proved that the perturbed system is U-stable if and only if Delta P(I + Q x Delta P) exp -1 is U-stable.

Bhaya, A.↗
NASA NTRS1994

Robust stabilization of marginally stable positive-real systems

This paper investigates the stability of the negative feedback interconnection to two positive-real systems which have poles in the closed left-half of the complex plane. A new definition of marginally strict positive real systems is introduced, and sufficient conditions are obtained for the stability of the feedback interconnection of such systems, using the Lyapunov method. The conditions obtained have direct applications to dynamic dissipative controllers for flexible spacecraft and are the least restrictive ones published to date.

Joshi, Suresh M.↗
NASA NTRS2007

A Robustly Stabilizing Model Predictive Control Algorithm

A model predictive control (MPC) algorithm that differs from prior MPC algorithms has been developed for controlling an uncertain nonlinear system. This algorithm guarantees the resolvability of an associated finite-horizon optimal-control problem in a receding-horizon implementation.

Ackmece, A. Behcet↗
NASA NTRS1998

On-Line Robust Modal Stability Prediction using Wavelet Processing

Wavelet analysis for filtering and system identification has been used to improve the estimation of aeroservoelastic stability margins. The conservatism of the robust stability margins is reduced with parametric and nonparametric time- frequency analysis of flight data in the model validation process. Nonparametric wavelet processing of data is used to reduce the effects of external disturbances and unmodeled dynamics. Parametric estimates of modal stability are also extracted using the wavelet transform. Computation of robust stability margins for stability boundary prediction depends on uncertainty descriptions derived from the data for model validation. The F-18 High Alpha Research Vehicle aeroservoelastic flight test data demonstrates improved robust stability prediction by extension of the stability boundary beyond the flight regime. Guidelines and computation times are presented to show the efficiency and practical aspects of these procedures for on-line implementation. Feasibility of the method is shown for processing flight data from time- varying nonstationary test points.

Brenner, Martin J.↗
NASA NTRS1999

Development of An Intelligent Flight Propulsion Control System

The initial design and demonstration of an Intelligent Flight Propulsion and Control System (IFPCS) is documented. The design is based on the implementation of a nonlinear adaptive flight control architecture. This initial design of the IFPCS enhances flight safety by using propulsion sources to provide redundancy in flight control. The IFPCS enhances the conventional gain scheduled approach in significant ways: (1) The IFPCS provides a back up flight control system that results in consistent responses over a wide range of unanticipated failures. (2) The IFPCS is applicable to a variety of aircraft models without redesign and,(3) significantly reduces the laborious research and design necessary in a gain scheduled approach. The control augmentation is detailed within an approximate Input-Output Linearization setting. The availability of propulsion only provides two control inputs, symmetric and differential thrust. Earlier Propulsion Control Augmentation (PCA) work performed by NASA provided for a trajectory controller with pilot command input of glidepath and heading. This work is aimed at demonstrating the flexibility of the IFPCS in providing consistency in flying qualities under a variety of failure scenarios. This report documents the initial design phase where propulsion only is used. Results confirm that the engine dynamics and associated hard nonlineaaities result in poor handling qualities at best. However, as demonstrated in simulation, the IFPCS is capable of results similar to the gain scheduled designs of the NASA PCA work. The IFPCS design uses crude estimates of aircraft behaviour. The adaptive control architecture demonstrates robust stability and provides robust performance. In this work, robust stability means that all states, errors, and adaptive parameters remain bounded under a wide class of uncertainties and input and output disturbances. Robust performance is measured in the quality of the tracking. The results demonstrate the flexibility of the IFPCS architecture and the ability to provide robust performance under a broad range of uncertainty. Robust stability is proved using Lyapunov like analysis. Future development of the IFPCS will include integration of conventional control surfaces with the use of propulsion augmentation, and utilization of available lift and drag devices, to demonstrate adaptive control capability under a greater variety of failure scenarios. Further work will specifically address the effects of actuator saturation.

Calise, A. J.↗
NASA NTRS1991

Multivariable control of the Space Shuttle remote manipulator system using H2 and H(infinity) optimization

Three linear controllers are desiged to regulate the end effector of the Space Shuttle Remote Manipulator System (SRMS) operating in Position Hold Mode. In this mode of operation, jet firings of the Orbiter can be treated as disturbances while the controller tries to keep the end effector stationary in an orbiter-fixed reference frame. The three design techniques used include: the Linear Quadratic Regulator (LQR), H2 optimization, and H-infinity optimization. The nonlinear SRMS is linearized by modelling the effects of the significant nonlinearities as uncertain parameters. Each regulator design is evaluated for robust stability in light of the parametric uncertanties using both the small gain theorem with an H-infinity norm and the less conservative micro-analysis test. All three regulator designs offer significant improvement over the current system on the nominal plant. Unfortunately, even after dropping performance requirements and designing exclusively for robust stability, robust stability cannot be achieved. The SRMS suffers from lightly damped poles with real parametric uncertainties. Such a system renders the micro-analysis test, which allows for complex peturbations, too conservative.

Prakash, OM, II↗
NASA NTRS1989

Robust control design for aerospace applications

Time-domain control design for stability robustness of linear systems with structured uncertainty is addressed. Upper bounds on the linear perturbation of an asymptotically stable linear system are obtained, making it possible to maintain stability by using the structural information of the uncertainty. A quantitative measure called the stability robustness index is introduced and used to design controllers for robust stability. The proposed state feedback control design algorithm can be used, for a given set of perturbations, to select the range of control effort for which the system is stability-robust. Conversely it can be used, for a given control effort, to determine the size of the tolerable perturbation. The algorithm is illustrated with examples from aircraft control and large-space-structure control problems.

Yedavalli, Rama K.↗
NASA NTRS1993

Robust nonlinear control of vectored thrust aircraft

An interdisciplinary program in robust control for nonlinear systems with applications to a variety of engineering problems is outlined. Major emphasis will be placed on flight control, with both experimental and analytical studies. This program builds on recent new results in control theory for stability, stabilization, robust stability, robust performance, synthesis, and model reduction in a unified framework using Linear Fractional Transformations (LFT's), Linear Matrix Inequalities (LMI's), and the structured singular value micron. Most of these new advances have been accomplished by the Caltech controls group independently or in collaboration with researchers in other institutions. These recent results offer a new and remarkably unified framework for all aspects of robust control, but what is particularly important for this program is that they also have important implications for system identification and control of nonlinear systems. This combines well with Caltech's expertise in nonlinear control theory, both in geometric methods and methods for systems with constraints and saturations.

Doyle, John C.↗