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This report includes: (1) introduction to mirror motion compensation (MMS); (2) EOS platform model and disturbance definition; (3) instrument jitter response; (4) modeling uncertainties, which includes frequency, damping, lag filter, and mirror inertia; (5) multiple disturbances; (6) feedback; and (7) summary.
This work is concerned with the control problem of a multi-robot system handling a payload with unknown mass properties. Force constraints at the grasp points are considered. Robust control schemes are proposed that cope with the model uncertainty and achieve asymptotic path tracking. To deal with the force constraints, a strategy for optimally sharing the task is suggested. This strategy basically consists of two steps. The first detects the robots that need help and the second arranges that help. It is shown that the overall system is not only robust to uncertain payload parameters, but also satisfies the force constraints.
Building structures and spacecraft in orbit will require technologies for positioning, docking/berthing, and joining orbital structures. A fundamental problem underlying the operation of docking and berthing is that of controlling the contact dynamics of mechanical structures actuated by active mechanisms such as robotic devices. Control systems must be designed to control these active mechanisms so that both the free space motions and contact motions are stable and satisfy specifications on position accuracy and bounds on contact forces. For the large orbital structures of the future, the problem of interactive dynamics and control is fundamentally different in several ways than it was for spacecraft docking in the past. First, future space structures must be treated as flexible structures - the operations of docking, berthing, and assembly will need to respect the vibrations of the structures. Second, the assembly of these structures will require multiple-point contact, rather than the essentially single-point positioning of conventional spacecraft docking. Third, some assembly operations require the subassemblies to be brought and held in contact so that successful joining can be accomplished. A preliminary study of contact stability and compliance control design has resulted in the development of an analytical method and a design method to analyze stability. The analytical method analyzes the problem of stability when an actively-controlled structure contacts a passive structure. This method makes it possible to accurately estimate the stiffness of the passive structures with which the contact motion will become unstable. The analytic results suggest that passivity is neither achievable in practice, nor necessary as a design concept. A contact control system need only be passive up to a certain frequency; beyond that frequency the system can be stabilized with sufficiently small gains. With this concept the Center developed a design methodology for achieving desired compliant contact motions. This design method is based on H-infinity norm optimization, which makes it possible to consider both driving point mechanical impedance and systems robustness to modeling uncertainty. A laboratory facility was set up to verify experimentally the analytical and design theory.
A global, 7-year satellite-based record of ocean surface solar irradiance (SSI) is used to assess the realism of ocean SSI simulated by the nine-layer Goddard Laboratory for Atmospheres (GLA) General Circulation Model (GCM). January and July climatologies of net SSI produced by the model are compared with corresponding satellite climatologies for the world oceans between 54 deg N and 54 deg S. This comparison of climatologies indicates areas of strengths and weaknesses in the GCM treatment of cloud-radiation interactions, the major source of model uncertainty. Realism of ocean SSI is also important for applications such as incorporating the GLA GCM into a coupled ocean-atmosphere GCM. The results show that the GLA GCM simulates too much SSI in the extratropics and too little in the tropics, especially in the summer hemisphere. These discrepancies reach magnitudes of 60 W/sq m and more. The discrepancies are particularly large in the July case off the western coast of North America. Positive and negative discrepancies in SSI are shown to be consistent with discrepancies in planetary albedo.
The problem of computing open-loop, fuel- and time-optimal control inputs for flexible space structures in the face of modeling uncertainty is investigated. Robustified, fuel- and time-optimal pulse sequences are obtained by solving a constrained optimization problem subject to robustness constraints. It is shown that 'bang-off-bang' pulse sequences with a finite number of switchings provide a practical tradeoff among the maneuvering time, fuel consumption, and performance robustness of uncertain flexible space structures.
This study is an application of H-infinity and microsynthesis for designing robust tracking controllers for the Large Angle Magnetic Suspension Test Facility. The modeling, design, analysis, simulation, and testing of a control law that guarantees tracking performance under external disturbances and model uncertainties is investigated. The type of uncertainties considered and the tracking performance metric used is discussed. This study demonstrates the tradeoff between tracking performance at low frequencies and robustness at high frequencies. Two sets of controllers were designed and tested. The first set emphasized performance over robustness, while the second set traded off performance for robustness. Comparisons of simulation and test results are also included. Current simulation and experimental results indicate that reasonably good robust tracking performance can be attained for this system, using multivariable robust control approach.
This study is an application of H-infinity and micro-synthesis for designing robust tracking controllers for the Large Angle Magnetic Suspension Test Facility. The modeling, design, analysis, simulation, and testing of a control law that guarantees tracking performance under external disturbances and model uncertainties is investigated. The type of uncertainties considered and the tracking performance metric used is discussed. This study demonstrates the tradeoff between tracking performance at low frequencies and robustness at high frequencies. Two sets of controllers were designed and tested. The first set emphasized performance over robustness, while the second set traded off performance for robustness. Comparisons of simulation and test results are also included. Current simulation and experimental results indicate that reasonably good robust tracking performance can be attained for this system using multivariable robust control approach.
Crews of manned interplanetary missions may accumulate significant radiation exposures from the Galactic Cosmic Ray (GCR) environment in space. Estimates of how these dose levels are affected by the assumed temporal and spatial variations in the composition of the GCR environment, and by the effects of the spacecraft and body self-shielding on the transported fields are presented. In this work, the physical processes through which shielding alters the transported radiation fields are described. We then present estimates of the effects on model calculations of (1) nuclear fragmentation model uncertainties, (2) solar modulation, (3) variations between solar cycles, and (4) proposed changes to the quality factors which relate dose equivalent to absorbed dose.
This viewgraph presentation describes the general methodology used to apply Honywell's Multi-Application Control (MACH) and the specific application to the F-18 High Angle-of-Attack Research Vehicle (HARV) including piloted simulation handling qualities evaluation. The general steps include insertion of modeling data for geometry and mass properties, aerodynamics, propulsion data and assumptions, requirements and specifications, e.g. definition of control variables, handling qualities, stability margins and statements for bandwidth, control power, priorities, position and rate limits. The specific steps include choice of independent variables for least squares fits to aerodynamic and propulsion data, modifications to the management of the controls with regard to integrator windup and actuation limiting and priorities, e.g. pitch priority over roll, and command limiting to prevent departures and/or undesirable inertial coupling or inability to recover to a stable trim condition. The HARV control problem is characterized by significant nonlinearities and multivariable interactions in the low speed, high angle-of-attack, high angular rate flight regime. Systematic approaches to the control of vehicle motions modeled with coupled nonlinear equations of motion have been developed. This paper will discuss the dynamic inversion approach which explicity accounts for nonlinearities in the control design. Multiple control effectors (including aerodynamic control surfaces and thrust vectoring control) and sensors are used to control the motions of the vehicles in several degrees-of-freedom. Several maneuvers will be used to illustrate performance of MACH in the high angle-of-attack flight regime. Analytical methods for assessing the robust performance of the multivariable control system in the presence of math modeling uncertainty, disturbances, and commands have reached a high level of maturity. The structured singular value (mu) frequency response methodology is presented as a method for analyzing robust performance and the mu-synthesis method will be presented as a method for synthesizing a robust control system. The paper concludes with the author's expectations regarding future applications of robust nonlinear multivariable controls.
The performance-seeking-control algorithm (PSC) is designed to continuously optimize the performance of propulsion systems. The PSC uses a nominal model of the propulsion system and estimates, in flight, the engine deviation parameters (EDPs) characterizing engine deviations with respect to nominal conditions. In practice, the measurement biases (or model uncertainties) may prevent the estimated EDPs from reflecting the engine's actual off-nominal condition. This factor has a direct impact on the PSC scheme exacerbated by the open-loop character of the algorithm. An observability analysis shows that the biases cannot be estimated together with the EDPs. Moreover, biases and EDPs turn out to have equivalent effects on the measurements, leaving it undecided whether the estimated EDPs represent the actual engine deviation or whether they simply reflect the measurement biases. In this article, the effects produced by unknown measurement biases over the estimation algorithm are evaluated. This evaluation allows for identification of the most critical measurements for application of the PSC algorithm to an F100 engine.
The problem of feedback stabilization is considered for a class of nonlinear, finite dimensional, time invariant passive systems that are affine in control. Using extensions of the Kalman-Yakubovch lemma, it is shown that such systems can be stabilized by a class of finite demensional, linear, time-invariant controllers which are strictly positive real in the weak or marginal sense. The stability holds regardless of model uncertainties, and is therefore, robust.
The emission complex around 6.7 keV, arising from He-like Fe lines and their dielectronic satellites, has been observed at low resolution in a number of clusters of galaxies. With sufficient spectral resolution as in, e.g., solar flare observations, the ratio, G = (x + y + z)/w, of the intercombination (x and y) and forbidden (z) to the resonance (w) lines arising from the n = 2 level of the He-like ion, is a sensitive temperature diagnostic. We examine this role for G in the context of spatially and spectrally resolved observations of clusters of galaxies. The temperature behavior of this ratio is strongly dependent on the spectral resolution. We introduce an alternative definition for G that includes the contribution of satellite lines and improves the temperature fidelity of this diagnostic. We find that deprojection of the observed value of G along a line of sight through the cluster can yield accurate temperature profiles for temperatures in the range 10(exp 7)-10(exp 8) K that do not suffer from the cluster model uncertainties inherent in deconvolution of broad-band X-ray surface brightness profiles.
Controlling vibration of structures is essential for both space structures as well as terrestrial structures. Due to the ambient acceleration levels anticipated for the International Space Station, active vibration isolation is required to provide a quiescent acceleration environment for many science experiments. An overview is given of systems developed and flight tested in orbit for microgravity vibration isolation. Technology developed for vibration control of flexible space structures may also be applied to control of terrestrial structures such as buildings and bridges subject to wind loading or earthquake excitation. Recent developments in modern robust control for flexible space structures are shown to provide good structural vibration control while maintaining robustness to model uncertainties. Results of a mixed H-2/H-infinity control design are provided for a benchmark problem in structural control for earthquake resistant buildings.
During SUCCESS two independent and independently calibrated spectrometers were deployed at a surface site to determine the spectrally resolved downwelling solar irradiance. Preliminary evidence shows that for cloud-free conditions there is general agreement between measurements and model derived irradiance, at least to within instrumental and model uncertainties of 5%, with greatest disagreement Occurring in the 400 nm - 700 nm band. Cirrus effects are most prominent in the near-infrared bands beyond 1500 nm while the influence of very thin (subvisual) cirrus is evident in the scattered flux at the surface. Further remote sensing applications and the assessment of cloud absorption is contingent upon measurements of the surface spectral albedo.
In the fall of 1997, during an Intensive Observation Period (IOP), the Atmospheric Radiation Measurement (ARM) program conducted a study of water vapor abundance measurement at its Southern Great Plains (SGP) site. Among a large number of instruments, four sun-tracking radiometers were present to measure the columnar water vapor (CWV). All four solar radiometers retrieve CWV by measuring total solar transmittance in the 0.94-gm water vapor absorption band and subtracting contributions due to Rayleigh, ozone and aerosol transmittances. The aerosol optical depth comparisons among the same four radiometers has been presented elsewhere (Geophys. Res. Lett., 26, 17, 2725-2728, 1999). We have used three different methods to retrieve CWV. In a first round of comparison no attempt was made to standardize on the same radiative transfer model and its underlying water vapor spectroscopy. In the second round of comparison we used the same line-by-line code (which includes recently corrected H2O spectroscopy) to retrieve CAN from all four suntracking radiometers. This decreased the mean CWV by 8% or 13%. The spread of 8% in the solar radiometer results found when using the same model is an indication of the other-than-model uncertainties involved in determining CWV from solar transmittance measurements with current instrumentation.
A decade ago, Stephens and Tsay provided an overview of the subject of absorption of solar radiation by clouds in the earth's atmosphere. They summarized the available evidence that pointed to disagreements between theoretical and observed values of cloud absorption (and reflection). At that time, a theoretician's approach (assuming perfect flux measurements) was adopted to test the model uncertainty under various hypotheses, such as the omitted large drops, excess absorbing aerosols, enhanced water vapor continuum absorption, and cloud inhomogeneity. Since then, several advances in theoretical work have been made, but a satisfactory answer for the discrepancy is still lacking. Now, we offer an experimentalist's approach (focusing on field, not laboratory) to examine the observational uncertainty under numerous field factors, such as the temperature dependence, attitude control, and sampling strategy in the spatial and spectral domain. Examples from recent field campaigns have pointed out that these sources of error may be responsible for the unacceptable level of uncertainty (e.g., as large as 20 W/square m). We give examples of each, discuss their contribution to overall uncertainty in shortwave absorption, and suggest a coordinated approach to their solution.
Lightweight aircraft design emphasizes the reduction of structural weight to maximize aircraft efficiency and agility at the cost of increasing the likelihood of structural dynamic instabilities. To ensure flight safety, extensive flight testing and active structural servo control strategies are required to explore and expand the boundary of the flight envelope. Aeroservoelastic (ASE) models can provide online flight monitoring of dynamic instabilities to reduce flight time testing and increase flight safety. The success of ASE models is determined by the ability to take into account varying flight conditions and the possibility to perform flight monitoring under the presence of active structural servo control strategies. In this continued study, these aspects are addressed by developing specific methodologies and algorithms for control relevant robust identification and model validation of aeroservoelastic structures. The closed-loop model robust identification and model validation are based on a fractional model approach where the model uncertainties are characterized in a closed-loop relevant way.
On five occasions spanning the ACE-Asia field experiment in spring 2001, the multi-angle imaging MISR instrument, flying aboard the NASA Earth Observing System s Terra satellite, took quarter-kilometer data over a 400-km-wide swath, coincident with high-quality observations by multiple instruments on two or more participating surface and airborne platforms. The cases capture a range of clean, polluted, and dusty aerosol conditions. They represent some of the best opportunities during ACE- Asia for comparative studies among intensive and extensive aerosol observations in their environmental context. We inter-compare related measurements and discuss the implications of apparent discrepancies for each case, at a level of detail appropriate to the analysis of satellite observations. With a three-stage optical modeling process, we synthesize data from multiple sources into layer-by-layer snapshots that summarize what we know about the state of the atmosphere and surface at key locations during each event, to be used for satellite vicarious calibration and aerosol retrieval validation. Aerosols within a few kilometers of the surface were composed primarily of pollution and Asian dust mixtures, as expected. Accumulation and coarse-mode particle size distributions varied little among the events studied, but column aerosol optical depth changed by more than a factor of four, and the near-surface proportion of dust ranged from about 25% to 50%. The amount of absorbing material in the sub-micron fraction was highest when near-surface winds crossed Beijing and the Korean Peninsula, and was considerably lower for all other cases. Ambiguities remain in segregating size distributions by composition; having simultaneous single scattering albedo measurements at more than a single wavelength would significantly reduce the resulting optical model uncertainties, as would integral constraints from surface and atmospheric radiative flux observations. The consistency of component particle micro-physical properties among the five events, even in this relatively complex aerosol environment, suggests that global, satellite-derived maps of aerosol-air-mass-type extent, combined with targeted in situ measurements, can provide a detailed global picture of aerosol behavior. Further joint satellite and in situ analysis is needed to assess the spatial variability of both intensive and extensive aerosol properties within aerosol air masses in two spatial dimensions.