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At least 73 records · Page 4

All sources NASA NTRS DOE OSTI

DOE OSTI2022

Resilient Hierarchical Networked Control Systems: Secure Controls for Critical Locations and at Edge

Integration of information and communication technology (ICT) offers new opportunities in improving the management and operation of critical infrastructures such as power systems as it allows connection of different sensors and control components via a communication network, leading to the so-called networked control systems (NCS). However, the use of open and pervasive ICT such as the Internet or wireless communication technologies comes at a price of making NCS vulnerable to cyber intrusions/attacks which may cause physical damage. Here, this chapter presents control algorithms to ensure resilient and safe operation of NCS under unknown cyberattacks. Specifically, a variant of dynamic watermarking strategies is presented by embedding encoding/decoding components of chaotic signals into the NCS for secure control for critical locations where the measurement/control signals are transmitted to/from the control center via a communication network. In addition, resilient cooperative control algorithms are discussed to ensure safe operation at edge of the NCS which consists of a large number of distributed controllable devices. Several numerical examples are provided to illustrate the proposed control strategies.

96 KNOWLEDGE MANAGEMENT AND PRESERVATION↗

DOE OSTI2022

A Multiagent Deep Reinforcement Learning-Enabled Dual-Branch Damping Controller for Multimode Oscillation

Here, this study develops a multiagent deep reinforcement learning (MADRL)-enabled framework for the decentralized cooperative control of a novel dual-branch (DB) damping controller for both low-frequency oscillation (LFO) and ultralow-frequency oscillation (ULFO). It has two branches, each of which consists of a proportional resonance (PR) and a second-order polynomial that is designed to handle target oscillation modes. To improve the robustness of the controller to system uncertainties, MADRL is developed, where multiagents are centrally trained to obtain the coordinated adaptive control policy while being executed in a decentralized manner to provide the optimal parameter setting for each controller with only local states. Comparisons with the IEEE 10-machine 39-bus system demonstrate that the proposed method achieves better robustness to uncertainties, lower communication delay, and single-point failure, as well as damping control performances for both LFO and ULFO.

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2023

A Human-Machine Shared Control Framework Considering Time-Varying Driver Characteristics

The uncertainties of driver's behavior seriously affect road safety and bring significant challenges to the human-machine cooperative control. Here, this paper proposes a human-machine shared control framework considering driver's time-varying characteristics to improve the co-driving cooperation performance. Firstly, the driving intention is introduced to describe the driver's involvement level through using Gauss-Bernoulli restricted Boltzmann machine method. And the index of driving ability is proposed to evaluate driver skills based on path-tracking errors. Then, a novel human-machine authority allocation strategy is designed by combining the two driving behavior characteristics and used to construct the driver-vehicle interaction system. Subsequently, a T-S fuzzy robust state-feedback shared control system is developed considering time-varying driver behaviors and vehicle states. Finally, the proposed shared steering system is validated by the driver-in-the-loop test bench. The results show that the proposed control method can reduce human-machine conflicts and has obvious superiority in improving performance of driving comfort, path tracking, and vehicle stability for the co-driving vehicles.

33 ADVANCED PROPULSION SYSTEMS↗

NASA NTRS1989

Motion and force control for multiple cooperative manipulators

The motion and force control of multiple robot arms manipulating a commonly held object is addressed. A general control paradigm that decouples the motion and force control problems is introduced. For motion control, there are three natural choices: (1) joint torques, (2) arm-tip force vectors, and (3) the acceleration of a generalized coordinate. Choice (1) allows a class of relatively model-independent control laws by exploiting the Hamiltonian structure of the open-loop system; (2) and (3) require the full model information but produce simpler problems. To resolve the nonuniqueness of the joint torques, two methods are introduced. If the arm and object models are available, the allocation of the desired end-effector control force to the joint actuators can be optimized; otherwise the internal force can be controlled about some set point. It is shown that effective force regulation can be achieved even if little model information is available.

Wen, John T.↗

NASA NTRS2002

A Biologically Inspired Cooperative Multi-Robot Control Architecture

A prototype cooperative multi-robot control architecture suitable for the eventual construction of large space structures has been developed. In nature, there are numerous examples of complex architectures constructed by relatively simple insects, such as termites and wasps, which cooperatively assemble their nests. The prototype control architecture emulates this biological model. Actions of each of the autonomous robotic construction agents are only indirectly coordinated, thus mimicking the distributed construction processes of various social insects. The robotic construction agents perform their primary duties stigmergically i.e., without direct inter-agent communication and without a preprogrammed global blueprint of the final design. Communication and coordination between individual agents occurs indirectly through the sensed modifications that each agent makes to the structure. The global stigmergic building algorithm prototyped during the initial research assumes that the robotic builders only perceive the current state of the structure under construction. Simulation studies have established that an idealized form of the proposed architecture was indeed capable of producing representative large space structures with autonomous robots. This paper will explore the construction simulations in order to illustrate the multi-robot control architecture.

Howsman, Tom↗

NASA NTRS1976

Propulsion system/flight control integration for supersonic aircraft

Digital integrated control systems are studied. Such systems allow minimization of undesirable interactions while maximizing performance at all flight conditions. One such program is the YF-12 cooperative control program. The existing analog air data computer, autothrottle, autopilot, and inlet control systems are converted to digital systems by using a general purpose airborne computer and interface unit. Existing control laws are programed and tested in flight. Integrated control laws, derived using accurate mathematical models of the airplane and propulsion system in conjunction with modern control techniques, are tested in flight. Analysis indicates that an integrated autothrottle autopilot gives good flight path control and that observers are used to replace failed sensors.

Reukauf, P. J.↗

NASA NTRS2007

Update on Controlling Herds of Cooperative Robots

A document presents further information on the subject matter of "Controlling Herds of Cooperative Robots". The document describes the results of the computational simulations of a one-blimp, three-surface-sonde herd in various operational scenarios, including sensitivity studies as a function of distributed communication and processing delays between the sondes and the blimp. From results of the simulations, it is concluded that the methodology is feasible, even if there are significant uncertainties in the dynamical models.

Quadrelli, Marco↗

DOE OSTI2026

Optimization-based approaches to control of connected and automated vehicles: Principles, complexities, applications, challenges, and outlook

Safe and optimal motion control for connected and automated vehicles (CAVs) poses a fundamental optimization challenge at the intersection of system complexity, environmental uncertainty, and stringent real-time constraints. Existing surveys address this challenge in isolation – focusing either on specific control techniques or individual uncertainty sources – without providing a unified framework that characterizes the trade-offs among computational tractability, performance verifiability, and adaptive generalization across paradigms. This review addresses that gap by presenting a cohesive analytical framework concentrated on the decision-making and trajectory optimization layers of the CAV autonomy stack. We systematically analyze three major optimization paradigms – first-principles model-based optimization, data-driven methods, and hybrid synergistic architectures – evaluating each against four core complexity axes: problem formulation, constraint handling, optimality guarantees, and robustness. Key applications including platooning, trajectory planning, collision avoidance, and cooperative control are examined to reveal recurring methodological patterns and critical operational constraints that limit real-world performance. Our synthesis identifies verifiable hybrid architectures, incentive-aligned multi-agent cooperation, and hardware-algorithm co-design as the defining research frontiers, and distills a targeted agenda for developing CAV control systems that are simultaneously safe, computationally efficient, and deployable in the full complexity of real-world traffic environments.

Muzahid, Abu Jafar Md [University of Tennessee, Kn↗

NASA NTRS1992

The distributed virtual windtunnel

An implementation of a distributed virtual environment for the shared interactive visualization of large unsteady three-dimensional flowfields is described. Computation of the visualizations is performed on a Convex C3240 computer, and the visualization data are transferred over a high-speed network to a Silicon Graphics Iris workstation for rendering. A boom-mounted six-degree-of-freedom head-position-sensitive stereo CRT (cathode ray tube) system is used for display. A hand-position-sensitive glove controller is used for controlling various tracers for the visualization of the flow. User commands are sent to the Convex, which interprets these commands and computes the corresponding visualization. With this architecture, several users may share and cooperatively control the visualization generated by the Convex. The distributed architecture is also interesting to those using conventional screen and mouse interfaces.

Bryson, Steve↗

NASA NTRS1992

Joint Langley Research Center/Jet Propulsion Laboratory CSI experiment

This paper describes a joint Control Structure Interaction (CSI) experiment in which Jet Propulsion Laboratory (JPL) damping devices were incorporated into the Langley Research Center (LaRC) Phase 0 Testbed. The goals of the effort were twofold: (1) test the effectiveness of the JPL structural damping methods in a new structure and (2) assess the feasibility of combining JPL local control methods with the LaRC multiple input multiple output global control methods. Six dampers (2 piezoelectric active members, 4 viscous dampers), placed in three different regions of the structure, produced up to 26 dB attenuation in target modes. The combined control strategy in which the JPL damping methods contributed local control action and the LaRC control scheme provided global control action, produced and overall control scheme with increased stability margins and improved performance. This paper presents an overview of the technologies contributed from the two centers, the strategies used to combine them, and results demonstrating the success of the damping and cooperative control efforts.

Neat, Gregory W.↗

DOE OSTI2026

VECTOR Phase 1 Dataset: CAV Trajectory and Energy Consumption Records

This dataset contains benchmark experimental data from Phase 1 of the VECTOR project, focusing on the energy impact of CAV hardware components. The dataset includes vehicle trajectory data (speed and position) and corresponding energy consumption records collected from a CAV platform equipped with lidar, cameras, onboard computation units, and communication modules. The primary objective is to quantify the baseline energy consumption attributable to sensing and computing systems, independent of any advanced cooperative control strategies. During experiments, the leading vehicle followed a predetermined velocity profile, and the following CAV mirrored this trajectory using a basic car-following control to ensure consistent driving behavior. This setup enables a reliable benchmark for assessing the energy cost introduced by onboard CDA hardware (e.g., lidar and GPU-based processing). The dataset is essential for evaluating energy baselines and supports future comparative studies involving additional cooperative strategies. ![system img](system.png) ![vector img](vector.png)

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

NASA NTRS2005

Vortobots

The term vortobots denotes proposed swimming robots that would have dimensions as small as micrometers or even nanometers and that would move in swarms through fluids by generating and exploiting vortices in a cooperative manner. Vortobots were conceived as means of exploring confined or otherwise inaccessible fluid environments: they are expected to be especially attractive for biomedical uses like examining the interiors of blood vessels. The main advantage of the vortobot concept, relative to other concepts for swimming microscopic robots, is that the mechanisms for locomotion would be relatively simple and, therefore, could be miniaturized more easily. For example, only a simple spinning paddle would be required to generate a vortex around a vortobot (see Figure 1). The difficulty is that a smart swarming and cooperative control algorithm would be necessary for purposeful locomotion. This necessity arises because, as a consequence of basic principles of vortex dynamics, an isolated single vortex cannot move by itself because its induced flow at the center is zero; however, a vortex can move other vortices by the induced flow. By cleverly adjusting the strength and sign of each member in a group of vortices, the group can achieve net translational motion in the preferred direction through cooperation. Figure 2 presents two simple examples that serve to illustrate the principle of cooperative motion of vortobots. For the sake of simplicity, these examples are based on an idealized two-dimensional potential flow of an inviscid, incompressible liquid. The example of the upper part of the figure is of two vortices of equal magnitude and opposite sign. The centers of the vortices would move along parallel paths. The example of the lower part of the figure is of two vortices of the same magnitude and sign. In this case, both vortices would move in a circle in diametrically opposite positions. More complex motions can be obtained by introducing more vortices (or pairs of vortices) and choosing different vortex strengths and orientations.

Park, Han↗

NASA NTRS2001

Architectures and Evaluation for Adjustable Control Autonomy for Space-Based Life Support Systems

In the past five years, a number of automation applications for control of crew life support systems have been developed and evaluated in the Adjustable Autonomy Testbed at NASA's Johnson Space Center. This paper surveys progress on an adjustable autonomous control architecture for situations where software and human operators work together to manage anomalies and other system problems. When problems occur, the level of control autonomy can be adjusted, so that operators and software agents can work together on diagnosis and recovery. In 1997 adjustable autonomy software was developed to manage gas transfer and storage in a closed life support test. Four crewmembers lived and worked in a chamber for 91 days, with both air and water recycling. CO2 was converted to O2 by gas processing systems and wheat crops. With the automation software, significantly fewer hours were spent monitoring operations. System-level validation testing of the software by interactive hybrid simulation revealed problems both in software requirements and implementation. Since that time, we have been developing multi-agent approaches for automation software and human operators, to cooperatively control systems and manage problems. Each new capability has been tested and demonstrated in realistic dynamic anomaly scenarios, using the hybrid simulation tool.

Malin, Jane T.↗

NASA NTRS1976

NASA advanced control technology: An overview

NASA's current and projected advanced control technology programs for future transport aircraft include the design and verification of full flight envelope autopilots, the development and flight test of all-digital fly by wire systems, the evolution of low cost innovative avionics concepts such as split surface stability augmentation systems, the evaluation of integrated propulsion control and cooperative autopilot/propulsion control systems, the application of active control systems to short haul and long haul transports, and the demonstration of reconfigured active control aircraft. Key technical features and anticipated contributions of these technologies are outlined.

Peter R Kurzhals↗

NASA NTRS1990

Robotics technology discipline

Viewgraphs on robotics technology discipline for Space Station Freedom are presented. Topics covered include: mechanisms; sensors; systems engineering processes for integrated robotics; man/machine cooperative control; 3D-real-time machine perception; multiple arm redundancy control; manipulator control from a movable base; multi-agent reasoning; and surfacing evolution technologies.

Montemerlo, Melvin D.↗

NASA NTRSDate not supplied

Pathfinding for Airspace with Autonomous Vehicles (PAAV) + m:N Tabletop

The Pathfinding for Airspace with Autonomous Vehicles (PAAV) project is investigating how to integrate increasingly autonomous aircraft into the current air traffic management system. The project aims to help develop airspace procedures and technologies that are scalable to future autonomous operations. The purpose of this brief is to inform a working group on past and future PAAV efforts. The working group specializes in "m:N" operations, which refers to remote operations where one or more ground-based pilots cooperatively control multiple unmanned aircraft. The PAAV team will detail an upcoming tabletop exercise that is designed to elicit feedback from subject matter experts on current barriers to m:N operations for unmanned cargo operations and potential solutions to those obstacles. The working group will be given an opportunity to provide feedback on the objectives and methodology to be used in the PAAV tabletop exercise.

autonomous↗

DOE OSTI2021

Comparison of Probabilistic Forecasts for Predictive Voltage Control

This paper explores predictive cooperative voltage control in distribution systems with highly variable sources such as photovoltaics (PV). The goal is to maintain the voltage profile within the limits despite the fluctuations due to sudden changes in solar power generation. The predictive voltage control method relies on probabilistic solar power and load forecasts to select the optimum Voltage Regulator (VR) taps appropriately. VR taps are selected to minimize the risk of voltage violation. A modified version of the IEEE 123 system is used as the case study. A 100% penetration of solar power is assumed for the distribution system with profiles for solar generation and loads added to the system. Three different probabilistic forecast models (Quantile Regression (QR), Gaussian distribution and volatility forecasting using Generalized Autoregressive Conditional Heteroskedasticity (GARCH)) are explored in this study. The results for the VR taps and Voltage Deviation Index (VDI) are compared to find the most effective forecast model.

Panamtash, Hossein↗

NASA NTRS1988

Cooperative synthesis of control and display augmentation for a STOL aircraft in the approach and landing task

Application of the Cooperative methodology to synthesize control/display augmentation systems for the piloted longitudinal landing task with a modern, statically-unstable, fighter aircraft is considered. Starting with a control augmentation law which yields augmented vehicle dynamics that meet Level I handling qualities specifications, the effect of time-delay in the Head-up-display is studied using model-based criterion. This evaluation showed that even with 'good' conventional dynamics, a realistic value of display time-delay will cause significant deterioration in pilot workload and piloted-system performance. Application of the Cooperative methodology to control augmentation alone resulted in augmented vehicle dynamics which provide direct control of the flight path from the pilot stick. Analytical evaluation of these dynamics indicates that such dynamics might lead to improved pilot ratings over conventional dynamics, especially in the presence of time-delays in the system. Also, application of the methodology to simultaneous synthesis of control augmentation and flight director laws revealed that it might be advantageous to consider the control/display trade-off in the early design stages.

Garg, Sanjay↗