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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 73 records · Page 4
All sourcesNASA NTRSDOE OSTI
NASA NTRS1981

Experimental results with a six-degree-of-freedom force-reflecting hand controller

Control experiments performed using an isotonic joystick connected to a six degree-of-freedom manipulator equipped with a six dimensional force-torque sensor at the base of the manipulator end effector are described. The preliminary control experiments were aimed at the investigation of the human operators' ability to command and control forces in different directions by varying the information conditions and the values of the feedforward and feedback command gains in the bilateral control loop. The main conclusions are: (1) a quantified graphic display of force-torque information can considerably enhance the operator's ability to perform a quantitatively sharp force-torque control, and (2) there seems to be a task dependent optimal combination of the feedforward and feedback command gain values which provide a dynamically smooth and stable bilateral control performance.

Bejczy, A. K.↗
NASA NTRS1982

A novel input filter compensation scheme for switching regulators

A novel input-filter compensation scheme is proposed which uses feedforward loops to cancel the effects of peaking of the output impedance of the input filter, such that the converter is immune from performance degradation due to loop gain reduction. The scheme makes it possible to concurrently implement a high-performance converter and an effective input filter design with minimum weight and loss. A buck regulator with continuous current conduction is used as an example, and an analysis followed by a design procedure for the feedforward loops is presented.

Kelkar, S. S.↗
NASA NTRS1983

PIFCGT: A PIF autopilot design program for general aviation aircraft

This report documents the PIFCGT computer program. In FORTRAN, PIFCGT is a computer design aid for determing Proportional-Integral-Filter (PIF) control laws for aircraft autopilots implemented with a Command Generator Tracker (CGT). The program uses Linear-Quadratic-Regulator synthesis algorithms to determine feedback gains, and includes software to solve the feedforward matrix equation which is useful in determining the command generator tracker feedforward gains. The program accepts aerodynamic stability derivatives and computes the corresponding aerodynamic linear model. The nine autopilot modes that can be designed include four maneuver modes (ROLL SEL, PITCH SEL, HDG SEL, ALT SEL), four final approach models (APR GS, APR LOCI, APR LOCR, APR LOCP), and a BETA HOLD mode. The program has been compiled and executed on a CDC computer.

Broussard, J. R.↗
NASA NTRS1986

Design of multivariable controllers for robot manipulators

The paper presents a simple method for the design of linear multivariable controllers for multi-link robot manipulators. The control scheme consists of multivariable feedforward and feedback controllers. The feedforward controller is the minimal inverse of the linearized model of robot dynamics and contains only proportional-double-derivative (PD2) terms. This controller ensures that the manipulator joint angles track any reference trajectories. The feedback controller is of proportional-integral-derivative (PID) type and achieves pole placement. This controller reduces any initial tracking error to zero as desired and also ensures that robust steady-state tracking of step-plus-exponential trajectories is achieved by the joint angles. The two controllers are independent of each other and are designed separately based on the linearized robot model and then integrated in the overall control scheme. The proposed scheme is simple and can be implemented for real-time control of robot manipulators.

Seraji, H.↗
NASA NTRS1987

Direct adaptive control of manipulators in Cartesian space

A new adaptive-control scheme for direct control of manipulator end effector to achieve trajectory tracking in Cartesian space is developed in this article. The control structure is obtained from linear multivariable theory and is composed of simple feedforward and feedback controllers and an auxiliary input. The direct adaptation laws are derived from model reference adaptive control theory and are not based on parameter estimation of the robot model. The utilization of adaptive feedforward control and the inclusion of auxiliary input are novel features of the present scheme and result in improved dynamic performance over existing adaptive control schemes. The adaptive controller does not require the complex mathematical model of the robot dynamics or any knowledge of the robot parameters or the payload, and is computationally fast for on-line implementation with high sampling rates. The control scheme is applied to a two-link manipulator for illustration.

Seraji, H.↗
NASA NTRS1986

Linear multivariable control of robot manipulators

The paper presents a simple scheme for the linear multivariable control of multi-link robot manipulators. The control scheme consists of multivariable feedforward and feedback controllers. The feedforward controller is the minimal inverse of the linearized model of robot dynamics and contains only proportional-double-derivative terms. This controller ensures that the manipulator joint angles track any reference trajectories. The feedback controller is of proportional-derivative type and achieves stability and pole placement. This controller reduces any initial tracking error to zero as desired. The two controllers are independent of each other and are designed separately based on the linearized robot model and then integrated in an overall control scheme.

Seraji, H.↗
NASA NTRS1987

Design of force/position controllers for manipulators

The paper presents simple methods for the design of adaptive force and position controllers for robot manipulators within the hybrid control architecture. The force controller is composed of an adaptive PID feedback controller, an auxiliary signal and a force feedforward term, and achieves tracking of desired force setpoints in the constraint directions. The position controller consists of adaptive feedback and feedforward controllers and an auxiliary signal; and accomplishes tracking of desired position trajectories in the free directions. The controllers are capable of compensating for dynamic cross-couplings that exist between the position and force control loops in the hybrid control architecture. The adaptive controllers do not require knowledge of the complex dynamic model or parameter values of the manipulator or the environment. The proposed control schemes are computationally fast and suitable for implementation in on-line control with high sampling rates.

Seraji, H.↗
NASA NTRS1987

A new approach to adaptive control of manipulators

An approach in which the manipulator inverse is used as a feedforward controller is employed in the adaptive control of manipulators in order to achieve trajectory tracking by the joint angles. The desired trajectory is applied as an input to the feedforward controller, and the controller output is used as the driving torque for the manipulator. An adaptive algorithm obtained from MRAC theory is used to update the controller gains to cope with variations in the manipulator inverse due to changes of the operating point. An adaptive feedback controller and an auxiliary signal enhance closed-loop stability and achieve faster adaptation. Simulation results demonstrate the effectiveness of the proposed control scheme for different reference trajectories, and despite large variations in the payload.

Seraji, H.↗
NASA NTRS1987

Linear quadratic stationkeeping on travelling ellipses

An automatic controller for Space Shuttle stationkeeping or formationkeeping is presented. The controller, which is a candidate for future on-orbit autopilot enhancement, uses a fuel 'optimized' limit cycle trajectory in a feedforward loop for precise control at nonequilibrium set points. Disturbance rejection is accomplished by a discrete time, linear quadratic regulator, which is employed for tracking of the feedforward model. Feedback gain selection is done to provide good limit cycling performance and low fuel consumption. Velocity correlations are carried out by use of a pseudo 6 degree-of-freedom jet selection scheme. Results indicate that 20 ft precision can be achieved using current sensors.

Adams, Neil J.↗
NASA NTRS1987

Adaptive control of robotic manipulators

The author presents a novel approach to adaptive control of manipulators to achieve trajectory tracking by the joint angles. The central concept in this approach is the utilization of the manipulator inverse as a feedforward controller. The desired trajectory is applied as an input to the feedforward controller which behaves as the inverse of the manipulator at any operating point; the controller output is used as the driving torque for the manipulator. The controller gains are then updated by an adaptation algorithm derived from MRAC (model reference adaptive control) theory to cope with variations in the manipulator inverse due to changes of the operating point. An adaptive feedback controller and an auxiliary signal are also used to enhance closed-loop stability and to achieve faster adaptation. The proposed control scheme is computationally fast and does not require a priori knowledge of the complex dynamic model or the parameter values of the manipulator or the payload.

Seraji, H.↗
NASA NTRS1987

An adaptive Cartesian control scheme for manipulators

A adaptive control scheme for direct control of manipulator end-effectors to achieve trajectory tracking in Cartesian space is developed. The control structure is obtained from linear multivariable theory and is composed of simple feedforward and feedback controllers and an auxiliary input. The direct adaptation laws are derived from model reference adaptive control theory and are not based on parameter estimation of the robot model. The utilization of feedforward control and the inclusion of auxiliary input are novel features of the present scheme and result in improved dynamic performance over existing adaptive control schemes. The adaptive controller does not require the complex mathematical model of the robot dynamics or any knowledge of the robot parameters or the payload, and is computationally fast for online implementation with high sampling rates.

Seraji, H.↗
NASA NTRS1989

Simplified Linear Multivariable Control Of Robots

Simplified method developed to design control system that makes joints of robot follow reference trajectories. Generic design includes independent multivariable feedforward and feedback controllers. Feedforward controller based on inverse of linearized model of dynamics of robot and implements control law that contains only proportional and first and second derivatives of reference trajectories with respect to time. Feedback controller, which implements control law of proportional, first-derivative, and integral terms, makes tracking errors converge toward zero as time passes.

Seraji, Homayoun↗
NASA NTRS1989

Passivity In Analysis Of Robustness Of A Control System

Robustness margin (measure of degree of passivity) defined. Paper presents new approach to analysis of stability of multivariable feedforward-and-feedback control system consisting of exponentially stable linear time-invariant (LTI) feedforward subsystem and nonlinear time-varying (NTV) or dynamic feedback subsystem. New method based on notion of passivity, quantified by robustness margin. Margin provides bound on magnitudes of perturbations, below which perturbations will not make system unstable.

Wen, John Ting-Yung↗
NASA NTRS1989

Absolute Stability And Hyperstability In Hilbert Space

Theorems on stabilities of feedback control systems proved. Paper presents recent developments regarding theorems of absolute stability and hyperstability of feedforward-and-feedback control system. Theorems applied in analysis of nonlinear, adaptive, and robust control. Extended to provide sufficient conditions for stability in system including nonlinear feedback subsystem and linear time-invariant (LTI) feedforward subsystem, state space of which is Hilbert space, and input and output spaces having finite numbers of dimensions. (In case of absolute stability, feedback subsystem memoryless and possibly time varying. For hyperstability, feedback system dynamical system.)

Wen, John Ting-Yung↗
NASA NTRS1987

Adaptive hybrid control of manipulators

Simple methods for the design of adaptive force and position controllers for robot manipulators within the hybrid control architecuture is presented. The force controller is composed of an adaptive PID feedback controller, an auxiliary signal and a force feedforward term, and it achieves tracking of desired force setpoints in the constraint directions. The position controller consists of adaptive feedback and feedforward controllers and an auxiliary signal, and it accomplishes tracking of desired position trajectories in the free directions. The controllers are capable of compensating for dynamic cross-couplings that exist between the position and force control loops in the hybrid control architecture. The adaptive controllers do not require knowledge of the complex dynamic model or parameter values of the manipulator or the environment. The proposed control schemes are computationally fast and suitable for implementation in on-line control with high sampling rates.

Seraji, H.↗
NASA NTRS1989

Robust high-performance control for robotic manipulators

A robust control scheme to accomplish accurate trajectory tracking for an integrated system of manipulator-plus-actuators is proposed. The control scheme comprises a feedforward and a feedback controller. The feedforward controller contains any known part of the manipulator dynamics that can be used for online control. The feedback controller consists of adaptive position and velocity feedback gains and an auxiliary signal which is simply generated by a fixed-gain proportional/integral/derivative controller. The feedback controller is updated by very simple adaptation laws which contain both proportional and integral adaptation terms. By introduction of a simple sigma modification to the adaptation laws, robustness is guaranteed in the presence of unmodeled dynamics and disturbances.

Seraji, H.↗
NASA NTRS1990

Robust, High-Performance Control For Robotic Manipulators

Improved control scheme for robotic manipulators results from alternative approach to use of both model-based and performance-based control techniques. Includes feedforward controller and separate feedback controller. Feedforward controller model-based and contains any known part of dynamics of manipulator used to produce nominal control signal. Feedback controller performance-based; compensates for any unknown dynamics and uncertainties or variations in parameters of manipulator and/or payload.

Seraji, Homayoun↗
NASA NTRS1991

Microgravity vibration isolation: An optimal control law for the one-dimensional case

Certain experiments contemplated for space platforms must be isolated from the accelerations of the platform. An optimal active control is developed for microgravity vibration isolation, using constant state feedback gains (identical to those obtained from the Linear Quadratic Regulator (LQR) approach) along with constant feedforward gains. The quadratic cost function for this control algorithm effectively weights external accelerations of the platform disturbances by a factor proportional to (1/omega) exp 4. Low frequency accelerations are attenuated by greater than two orders of magnitude. The control relies on the absolute position and velocity feedback of the experiment and the absolute position and velocity feedforward of the platform, and generally derives the stability robustness characteristics guaranteed by the LQR approach to optimality. The method as derived is extendable to the case in which only the relative positions and velocities and the absolute accelerations of the experiment and space platform are available.

Hampton, Richard D.↗