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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.
NASA has chaired the Consultative Committee for Space Data Systems (CCSDS) for the past four years. During that time, a top-level, end-to-end reference model for space data sytems has been developed that identifies the functions anad services which must be provided by space data systems, and defines the interfaces between major functional elements. A group of definitions for standard protocols has been derived by analyzing these interfaces, and a set of detailed guidelines for space data system standards is in the final stages of negotiation among member CCSDS agencies. Two guidelines that address packet telemetry and channel coding have been approved and are being incorporated into the internal standards of member agencies. Others (packet telecommand, time code, standards data format unit) are in review within CCSDS technical panels and will soon be submitted for approval. These guidelines provide a mechanism for significant cost savings in the implementation of space data systems by allowing reuse of hardware and software for different payloads and for missions, and by enabling the substitution of new technology/higher performance elements at key points in the data system without causing major perturbations in the remainder of the system.
Studies have shown that atmospheric methane, CO and the gaseous OH radical are interdependent: if CH4, CO or OH is perturbed, background concentrations of the other two constituents are affected. Perturbations to OH alter photooxidation rates of numerous natural and anthropogenic trace gases and affect lifetimes of those species that pass from the earth's surface to the free troposphere and stratosphere. It is now known that global atmospheric methane concentrations are increasing; less definite data suggest that carbon monoxide is also increasing. Even before the measurements reported in nine literature references, modeling studies of CH4-CO-OH coupling had led to predictions (Chameides, Liu and Ciceronne, 1977; Sze, 1977; and Hameed, Pinto and Stewart 1979) of future increases of CH4 and CO. A photochemical model is used to look backwards in time by simulating the trace-gas composition of the unpolluted troposphere at the start of the industrial era (taken as 1860) and at intervals up to 1985. It is found that the OH concentration in the background troposphere has decreased significantly and O3 has increased due to increases of CH4 and CO; calculated changes depend on temporal trends of NOx (NOx = NO + NO2), for which no historical data are available. The calculations allow recent trace-gas trends affecting background chemistry and climate to be viewed in a longer-term context.
New stability theorems are developed for the convergence analysis of a class of one and two-time scale time-varying nonlinear systems using averaging theory. These theorems are applied to a class of continuous time adaptive identifiers and model reference adaptive controllers to obtain estimates of the parameter rate of exponential convergence.
A control law for large-angle single-axis rotational maneuvers of a spacecraft-beam-tip body (an antenna or a reflector) configuration is presented. It is assumed that an unknown but bounded disturbance torque is acting on the spacecraft. A model reference adaptive torque control law is derived for the slewing of the space vehicle. This controller includes a dynamic system in the feedback path and requires only attitude angle and rate of the space vehicle for feedback. For damping out the elastic motion excited by the slewing maneuver, a stabilizer is designed assuming that a torquer and a force actuator are available at the tip body. The stabilizer uses only the flexible modes for the synthesis of the control law. Simulation results are presented to show that fast, large-angle rotational maneuvers can be performed using the adaptive controller and the stabilizer in spite of the presence of continuously acting unknown torque on the spacecraft.
Using Generalized Harmonic Analysis, a complete description of parameter convergence in Model Reference Adaptive Control (MRAC) is given in terms of the spectrum of the exogenous reference input signal. Roughly speaking, if the reference signal 'contains enough frequencies' then the parameter vector converges to its correct value. If not, it converges to an easily characterizable subspace in parameter space.
The end-to-end performance of a program implementing IEEE Std 802.2 logical link control protocol, which provides virtual circuit and datagram service and which constitutes the top sublayer of the data link layer of the reference model for Local Area Networks is studied. The measurements of relative execution times of various functions required in transferring data, over virtual circuits or as datagrams, showed that most of the program execution time is spent in a few relatively low-level functions. One of these functions performs block movement of data in memory, and two other functions provide access to various queues. Based on this result, two alternative versions of the program which move data efficiently were written and measured. In this paper the results of the study are reported and their impact on designing hardware and software systems for a network interface are discussed.
A model reference adaptive control law is presented for large angle rotational maneuvers of spacecraft using reaction jets. It is assumed that the various parameters of the spacecraft are completely unknown, and unknown but bounded disturbance torques are acting on the spacecraft. The controller includes a dynamic system in the feedback path. Simulation results are presented to show that fast, large angle rotational maneuvers can be performed using the adaptive controller in spite of uncertainty in the system.
The sensory processing system for the NASA/NBS Standard Reference Model (NASREM) for telerobotic control is described. This control system architecture was adopted by NASA of the Flight Telerobotic Servicer. The control system is hierarchically designed and consists of three parallel systems: task decomposition, world modeling, and sensory processing. The Sensory Processing System is examined, and in particular the image processing hardware and software used to extract features at low levels of sensory processing for tasks representative of those envisioned for the Space Station such as assembly and maintenance are described.
The architecture of an integrated telerobotics laboratory which is being used for research on the mechanisms, controls, sensing, and operator interface required to accomplish space telerobotic tasks is described. The laboratory hardware is considered, including manipulator and controller, end effector, and vision. The virtual architecture, a common reference model for most of the laboratory applications, is discussed. Teleoperator and robotics system simulations which have been performed using the system are discussed.
The input design problem of selecting appropriate inputs for use in SISO adaptive identification and model reference adaptive control algorithms is considered. Averaging theory is used to characterize the optimal inputs in the frequency domain. The design problem is formulated as an optimization problem which maximizes the smallest eigenvalue of the average information matrix over power constrained signals, and the global optimal solution is obtained using a convergent numerical algorithm. A bound on the frequency search range required in the design algorithm has been determined in terms of the desired performance.
An experimental structure is described which was constructed to demonstrate and validate recent emerging technologies in the active control and identification of large flexible space structures. The configuration consists of a large, 20 foot diameter antenna-like flexible structure in the horizontal plane with a gimballed central hub, a flexible feed-boom assembly hanging from the hub, and 12 flexible ribs radiating outward. Fourteen electrodynamic force actuators mounted to the hub and to the individual ribs provide the means to excite the structure and exert control forces. Thirty permanently mounted sensors, including optical encoders and analog induction devices provide measurements of structural response at widely distributed points. An experimental remote optical sensor provides sixteen additional sensing channels. A computer samples the sensors, computes the control updates and sends commands to the actuators in real time, while simultaneously displaying selected outputs on a graphics terminal and saving them in memory. Several control experiments were conducted thus far and are documented. These include implementation of distributed parameter system control, model reference adaptive control, and static shape control. These experiments have demonstrated the successful implementation of state-of-the-art control approaches using actual hardware.
Previous work on the adaptive control of robotic systems is reviewed. Although the field is relatively new and does not yet represent a mature discipline, considerable attention has been given to the design of sophisticated robot controllers. Here, adaptive control methods are divided into model reference adaptive systems and self-tuning regulators with further definition of various approaches given in each class. The similarity and distinct features of the designed controllers are delineated and tabulated to enhance comparative review.